WebSVN - FlightCtrl - Blame - Rev 2307 - /branches/v0.90e_Ernstl

Rev	Author	Line No.	Line
2307	-	1	1 .file "fc.c"
		2	2 .arch atmega1284p
		3	3 __SREG__ = 0x3f
		4	4 __SP_H__ = 0x3e
		5	5 __SP_L__ = 0x3d
		6	6 __tmp_reg__ = 0
		7	7 __zero_reg__ = 1
		8	8 .global __do_copy_data
		9	9 .global __do_clear_bss
		10	10 .global GasIsZeroCnt
		11	11 .global GasIsZeroCnt
		12	12 .section .bss
		13	15 GasIsZeroCnt:
		14	16 0000 0000 .skip 2,0
		15	17 .global HooverGasEmergencyPercent
		16	18 .global HooverGasEmergencyPercent
		17	21 HooverGasEmergencyPercent:
		18	22 0002 0000 .skip 2,0
		19	23 .global VarioCharacter
		20	24 .data
		21	27 VarioCharacter:
		22	28 0000 20 .byte 32
		23	29 .global GIER_GRAD_FAKTOR
		24	32 GIER_GRAD_FAKTOR:
		25	33 0001 0B05 0000 .long 1291
		26	34 .global FC_StatusFlags2
		27	35 .global FC_StatusFlags2
		28	36 .section .bss
		29	39 FC_StatusFlags2:
		30	40 0004 00 .skip 1,0
		31	41 .global FC_StatusFlags
		32	42 .global FC_StatusFlags
		33	45 FC_StatusFlags:
		34	46 0005 00 .skip 1,0
		35	47 .global modell_fliegt
		36	48 .global modell_fliegt
		37	51 modell_fliegt:
		38	52 0006 0000 .skip 2,0
		39	53 .global MaxStickRoll
		40	54 .global MaxStickRoll
		41	57 MaxStickRoll:
		42	58 0008 0000 .skip 2,0
		43	59 .global MaxStickNick
		44	60 .global MaxStickNick
		45	63 MaxStickNick:
		46	64 000a 0000 .skip 2,0
		47	65 .global ExternHoehenValue
		48	66 .data
		49	69 ExternHoehenValue:
		50	70 0005 ECFF .word -20
		51	71 .global ExternStickGier
		52	72 .global ExternStickGier
		53	73 .section .bss
		54	76 ExternStickGier:
		55	77 000c 0000 .skip 2,0
		56	78 .global ExternStickRoll
		57	79 .global ExternStickRoll
		58	82 ExternStickRoll:
		59	83 000e 0000 .skip 2,0
		60	84 .global ExternStickNick
		61	85 .global ExternStickNick
		62	88 ExternStickNick:
		63	89 0010 0000 .skip 2,0
		64	90 .global sintab
		65	91 .data
		66	94 sintab:
		67	95 0007 00 .byte 0
		68	96 0008 02 .byte 2
		69	97 0009 04 .byte 4
		70	98 000a 06 .byte 6
		71	99 000b 07 .byte 7
		72	100 000c 08 .byte 8
		73	101 000d 08 .byte 8
		74	102 000e 08 .byte 8
		75	103 000f 07 .byte 7
		76	104 0010 06 .byte 6
		77	105 0011 04 .byte 4
		78	106 0012 02 .byte 2
		79	107 0013 00 .byte 0
		80	108 0014 FE .byte -2
		81	109 0015 FC .byte -4
		82	110 0016 FA .byte -6
		83	111 0017 F9 .byte -7
		84	112 0018 F8 .byte -8
		85	113 0019 F8 .byte -8
		86	114 001a F8 .byte -8
		87	115 001b F9 .byte -7
		88	116 001c FA .byte -6
		89	117 001d FC .byte -4
		90	118 001e FE .byte -2
		91	119 001f 00 .byte 0
		92	120 0020 02 .byte 2
		93	121 0021 04 .byte 4
		94	122 0022 06 .byte 6
		95	123 0023 07 .byte 7
		96	124 0024 08 .byte 8
		97	125 0025 08 .byte 8
		98	126 .global CareFree
		99	127 .global CareFree
		100	128 .section .bss
		101	131 CareFree:
		102	132 0012 00 .skip 1,0
		103	133 .global Parameter_DynamicStability
		104	134 .data
		105	137 Parameter_DynamicStability:
		106	138 0026 64 .byte 100
		107	139 .global Parameter_CouplingYawCorrection
		108	142 Parameter_CouplingYawCorrection:
		109	143 0027 40 .byte 64
		110	144 .global Parameter_AchsKopplung2
		111	147 Parameter_AchsKopplung2:
		112	148 0028 41 .byte 65
		113	149 .global Parameter_AchsKopplung1
		114	152 Parameter_AchsKopplung1:
		115	153 0029 5A .byte 90
		116	154 .global Parameter_LoopGasLimit
		117	157 Parameter_LoopGasLimit:
		118	158 002a 46 .byte 70
		119	159 .global Parameter_ServoRollComp
		120	162 Parameter_ServoRollComp:
		121	163 002b 55 .byte 85
		122	164 .global Parameter_ServoNickComp
		123	167 Parameter_ServoNickComp:
		124	168 002c 32 .byte 50
		125	169 .global Parameter_ServoRollControl
		126	172 Parameter_ServoRollControl:
		127	173 002d 64 .byte 100
		128	174 .global Parameter_ServoNickControl
		129	177 Parameter_ServoNickControl:
		130	178 002e 64 .byte 100
		131	179 .global Parameter_UserParam8
		132	180 .global Parameter_UserParam8
		133	181 .section .bss
		134	184 Parameter_UserParam8:
		135	185 0013 00 .skip 1,0
		136	186 .global Parameter_UserParam7
		137	187 .global Parameter_UserParam7
		138	190 Parameter_UserParam7:
		139	191 0014 00 .skip 1,0
		140	192 .global Parameter_UserParam6
		141	193 .global Parameter_UserParam6
		142	196 Parameter_UserParam6:
		143	197 0015 00 .skip 1,0
		144	198 .global Parameter_UserParam5
		145	199 .global Parameter_UserParam5
		146	202 Parameter_UserParam5:
		147	203 0016 00 .skip 1,0
		148	204 .global Parameter_UserParam4
		149	205 .global Parameter_UserParam4
		150	208 Parameter_UserParam4:
		151	209 0017 00 .skip 1,0
		152	210 .global Parameter_UserParam3
		153	211 .global Parameter_UserParam3
		154	214 Parameter_UserParam3:
		155	215 0018 00 .skip 1,0
		156	216 .global Parameter_UserParam2
		157	217 .global Parameter_UserParam2
		158	220 Parameter_UserParam2:
		159	221 0019 00 .skip 1,0
		160	222 .global Parameter_UserParam1
		161	223 .global Parameter_UserParam1
		162	226 Parameter_UserParam1:
		163	227 001a 00 .skip 1,0
		164	228 .global Parameter_I_Faktor
		165	229 .data
		166	232 Parameter_I_Faktor:
		167	233 002f 0A .byte 10
		168	234 .global Parameter_Gier_P
		169	237 Parameter_Gier_P:
		170	238 0030 02 .byte 2
		171	239 .global Parameter_Gyro_Gier_I
		172	242 Parameter_Gyro_Gier_I:
		173	243 0031 96 .byte -106
		174	244 .global Parameter_Gyro_Gier_P
		175	247 Parameter_Gyro_Gier_P:
		176	248 0032 96 .byte -106
		177	249 .global Parameter_Gyro_I
		178	252 Parameter_Gyro_I:
		179	253 0033 96 .byte -106
		180	254 .global Parameter_Gyro_P
		181	257 Parameter_Gyro_P:
		182	258 0034 96 .byte -106
		183	259 .global Parameter_Gyro_D
		184	262 Parameter_Gyro_D:
		185	263 0035 08 .byte 8
		186	264 .global Parameter_Hoehe_GPS_Z
		187	267 Parameter_Hoehe_GPS_Z:
		188	268 0036 40 .byte 64
		189	269 .global Parameter_KompassWirkung
		190	272 Parameter_KompassWirkung:
		191	273 0037 40 .byte 64
		192	274 .global Parameter_Hoehe_ACC_Wirkung
		193	277 Parameter_Hoehe_ACC_Wirkung:
		194	278 0038 3A .byte 58
		195	279 .global Parameter_Hoehe_P
		196	282 Parameter_Hoehe_P:
		197	283 0039 10 .byte 16
		198	284 .global Parameter_HoehenSchalter
		199	287 Parameter_HoehenSchalter:
		200	288 003a FB .byte -5
		201	289 .global Parameter_Luftdruck_D
		202	292 Parameter_Luftdruck_D:
		203	293 003b 30 .byte 48
		204	294 .global Looping_Oben
		205	295 .global Looping_Oben
		206	296 .section .bss
		207	299 Looping_Oben:
		208	300 001b 00 .skip 1,0
		209	301 .global Looping_Unten
		210	302 .global Looping_Unten
		211	305 Looping_Unten:
		212	306 001c 00 .skip 1,0
		213	307 .global Looping_Rechts
		214	308 .global Looping_Rechts
		215	311 Looping_Rechts:
		216	312 001d 00 .skip 1,0
		217	313 .global Looping_Links
		218	314 .global Looping_Links
		219	317 Looping_Links:
		220	318 001e 00 .skip 1,0
		221	319 .global Looping_Roll
		222	320 .global Looping_Roll
		223	323 Looping_Roll:
		224	324 001f 00 .skip 1,0
		225	325 .global Looping_Nick
		226	326 .global Looping_Nick
		227	329 Looping_Nick:
		228	330 0020 00 .skip 1,0
		229	331 .global Ki
		230	332 .data
		231	335 Ki:
		232	336 003c 3801 .word 312
		233	337 .global HoverGas
		234	338 .global HoverGas
		235	339 .section .bss
		236	342 HoverGas:
		237	343 0021 0000 .skip 2,0
		238	344 .global LageKorrekturNick
		239	345 .global LageKorrekturNick
		240	348 LageKorrekturNick:
		241	349 0023 0000 .skip 2,0
		242	350 .global LageKorrekturRoll
		243	351 .global LageKorrekturRoll
		244	354 LageKorrekturRoll:
		245	355 0025 0000 .skip 2,0
		246	356 .global NeueKompassRichtungMerken
		247	357 .global NeueKompassRichtungMerken
		248	360 NeueKompassRichtungMerken:
		249	361 0027 00 .skip 1,0
		250	362 .global CalibrationDone
		251	363 .global CalibrationDone
		252	366 CalibrationDone:
		253	367 0028 00 .skip 1,0
		254	368 .global CompassGierSetpoint
		255	369 .global CompassGierSetpoint
		256	372 CompassGierSetpoint:
		257	373 0029 0000 .skip 2,0
		258	374 .global WaypointTrimming
		259	375 .global WaypointTrimming
		260	378 WaypointTrimming:
		261	379 002b 00 .skip 1,0
		262	380 .global carefree_old
		263	381 .data
		264	384 carefree_old:
		265	385 003e 32 .byte 50
		266	386 .global FromNC_AltitudeSpeed
		267	387 .global FromNC_AltitudeSpeed
		268	388 .section .bss
		269	391 FromNC_AltitudeSpeed:
		270	392 002c 00 .skip 1,0
		271	393 .global FromNC_AltitudeSetpoint
		272	394 .global FromNC_AltitudeSetpoint
		273	397 FromNC_AltitudeSetpoint:
		274	398 002d 0000 0000 .skip 4,0
		275	399 .global AltitudeSetpointTrimming
		276	400 .global AltitudeSetpointTrimming
		277	403 AltitudeSetpointTrimming:
		278	404 0031 0000 .skip 2,0
		279	405 .global SollHoehe
		280	406 .global SollHoehe
		281	409 SollHoehe:
		282	410 0033 0000 0000 .skip 4,0
		283	411 .global HoehenWert
		284	412 .global HoehenWert
		285	415 HoehenWert:
		286	416 0037 0000 0000 .skip 4,0
		287	417 .global StartTrigger
		288	418 .global StartTrigger
		289	421 StartTrigger:
		290	422 003b 00 .skip 1,0
		291	423 .global MotorenEin
		292	424 .global MotorenEin
		293	427 MotorenEin:
		294	428 003c 00 .skip 1,0
		295	429 .global SenderOkay
		296	430 .global SenderOkay
		297	433 SenderOkay:
		298	434 003d 00 .skip 1,0
		299	435 .global Poti
		300	436 .global Poti
		301	439 Poti:
		302	440 003e 0000 0000 .skip 9,0
		303	440 0000 0000
		304	440 00
		305	441 .global StickGas
		306	442 .global StickGas
		307	445 StickGas:
		308	446 0047 0000 .skip 2,0
		309	447 .global StickGier
		310	448 .global StickGier
		311	451 StickGier:
		312	452 0049 0000 .skip 2,0
		313	453 .global StickRoll
		314	454 .global StickRoll
		315	457 StickRoll:
		316	458 004b 0000 .skip 2,0
		317	459 .global StickNick
		318	460 .global StickNick
		319	463 StickNick:
		320	464 004d 0000 .skip 2,0
		321	465 .global HoverGasMax
		322	466 .data
		323	469 HoverGasMax:
		324	470 003f FF03 .word 1023
		325	471 .global HoverGasMin
		326	472 .global HoverGasMin
		327	473 .section .bss
		328	476 HoverGasMin:
		329	477 004f 0000 .skip 2,0
		330	478 .global StickGasHover
		331	479 .data
		332	482 StickGasHover:
		333	483 0041 7800 .word 120
		334	484 .global GierGyroFehler
		335	485 .global GierGyroFehler
		336	486 .section .bss
		337	489 GierGyroFehler:
		338	490 0051 0000 .skip 2,0
		339	491 .global Umschlag180Roll
		340	492 .data
		341	495 Umschlag180Roll:
		342	496 0043 90D0 0300 .long 250000
		343	497 .global Umschlag180Nick
		344	500 Umschlag180Nick:
		345	501 0047 90D0 0300 .long 250000
		346	502 .global TrichterFlug
		347	503 .global TrichterFlug
		348	504 .section .bss
		349	507 TrichterFlug:
		350	508 0053 00 .skip 1,0
		351	509 .global HoehenReglerAktiv
		352	510 .global HoehenReglerAktiv
		353	513 HoehenReglerAktiv:
		354	514 0054 00 .skip 1,0
		355	515 .global KompassSignalSchlecht
		356	516 .data
		357	519 KompassSignalSchlecht:
		358	520 004b 3200 .word 50
		359	521 .global KompassFusion
		360	524 KompassFusion:
		361	525 004d 20 .byte 32
		362	526 .global CalculateCompassTimer
		363	529 CalculateCompassTimer:
		364	530 004e 64 .byte 100
		365	531 .global KompassSollWert
		366	532 .global KompassSollWert
		367	533 .section .bss
		368	536 KompassSollWert:
		369	537 0055 0000 .skip 2,0
		370	538 .global KompassValue
		371	539 .data
		372	542 KompassValue:
		373	543 004f FFFF .word -1
		374	544 .global Mess_Integral_Hoch
		375	545 .global Mess_Integral_Hoch
		376	546 .section .bss
		377	549 Mess_Integral_Hoch:
		378	550 0057 0000 0000 .skip 4,0
		379	551 .global SummeRoll
		380	552 .global SummeRoll
		381	555 SummeRoll:
		382	556 005b 0000 0000 .skip 4,0
		383	557 .global SummeNick
		384	558 .global SummeNick
		385	561 SummeNick:
		386	562 005f 0000 0000 .skip 4,0
		387	563 .global Mess_Integral_Gier2
		388	564 .global Mess_Integral_Gier2
		389	567 Mess_Integral_Gier2:
		390	568 0063 0000 0000 .skip 4,0
		391	569 .global Mess_Integral_Gier
		392	570 .global Mess_Integral_Gier
		393	573 Mess_Integral_Gier:
		394	574 0067 0000 0000 .skip 4,0
		395	575 .global Mess_IntegralRoll2
		396	576 .global Mess_IntegralRoll2
		397	579 Mess_IntegralRoll2:
		398	580 006b 0000 0000 .skip 4,0
		399	581 .global Mess_IntegralRoll
		400	582 .global Mess_IntegralRoll
		401	585 Mess_IntegralRoll:
		402	586 006f 0000 0000 .skip 4,0
		403	587 .global Mess_IntegralNick2
		404	588 .global Mess_IntegralNick2
		405	591 Mess_IntegralNick2:
		406	592 0073 0000 0000 .skip 4,0
		407	593 .global Mess_IntegralNick
		408	594 .global Mess_IntegralNick
		409	597 Mess_IntegralNick:
		410	598 0077 0000 0000 .skip 4,0
		411	599 .global Integral_Gier
		412	600 .global Integral_Gier
		413	603 Integral_Gier:
		414	604 007b 0000 0000 .skip 4,0
		415	605 .global IntegralAccZ
		416	606 .global IntegralAccZ
		417	609 IntegralAccZ:
		418	610 007f 0000 0000 .skip 4,0
		419	611 .global IntegralAccRoll
		420	612 .global IntegralAccRoll
		421	615 IntegralAccRoll:
		422	616 0083 0000 0000 .skip 4,0
		423	617 .global IntegralAccNick
		424	618 .global IntegralAccNick
		425	621 IntegralAccNick:
		426	622 0087 0000 0000 .skip 4,0
		427	623 .global IntegralRoll2
		428	624 .global IntegralRoll2
		429	627 IntegralRoll2:
		430	628 008b 0000 0000 .skip 4,0
		431	629 .global IntegralRoll
		432	630 .global IntegralRoll
		433	633 IntegralRoll:
		434	634 008f 0000 0000 .skip 4,0
		435	635 .global IntegralNick2
		436	636 .global IntegralNick2
		437	639 IntegralNick2:
		438	640 0093 0000 0000 .skip 4,0
		439	641 .global IntegralNick
		440	642 .global IntegralNick
		441	645 IntegralNick:
		442	646 0097 0000 0000 .skip 4,0
		443	647 .global ControlHeading
		444	648 .global ControlHeading
		445	651 ControlHeading:
		446	652 009b 00 .skip 1,0
		447	653 .global NeutralAccZ
		448	654 .global NeutralAccZ
		449	657 NeutralAccZ:
		450	658 009c 0000 .skip 2,0
		451	659 .global NaviCntAcc
		452	660 .global NaviCntAcc
		453	663 NaviCntAcc:
		454	664 009e 0000 .skip 2,0
		455	665 .global NeutralAccY
		456	666 .global NeutralAccY
		457	669 NeutralAccY:
		458	670 00a0 0000 .skip 2,0
		459	671 .global NeutralAccX
		460	672 .global NeutralAccX
		461	675 NeutralAccX:
		462	676 00a2 0000 .skip 2,0
		463	677 .global StartNeutralNick
		464	678 .global StartNeutralNick
		465	681 StartNeutralNick:
		466	682 00a4 0000 .skip 2,0
		467	683 .global StartNeutralRoll
		468	684 .global StartNeutralRoll
		469	687 StartNeutralRoll:
		470	688 00a6 0000 .skip 2,0
		471	689 .global AdNeutralGier
		472	690 .global AdNeutralGier
		473	693 AdNeutralGier:
		474	694 00a8 0000 .skip 2,0
		475	695 .global AdNeutralRoll
		476	696 .global AdNeutralRoll
		477	699 AdNeutralRoll:
		478	700 00aa 0000 .skip 2,0
		479	701 .global AdNeutralNick
		480	702 .global AdNeutralNick
		481	705 AdNeutralNick:
		482	706 00ac 0000 .skip 2,0
		483	707 .global BaroExpandActive
		484	708 .global BaroExpandActive
		485	711 BaroExpandActive:
		486	712 00ae 0000 .skip 2,0
		487	713 .text
		488	714 .global CopyDebugValues
		489	716 CopyDebugValues:
		490	717 /* prologue: frame size=0 */
		491	718 0000 EF92 push r14
		492	719 0002 FF92 push r15
		493	720 0004 0F93 push r16
		494	721 0006 1F93 push r17
		495	722 /* prologue end (size=4) */
		496	723 0008 8091 0000 lds r24,EE_Parameter+28
		497	724 000c 9927 clr r25
		498	725 000e 880F lsl r24
		499	726 0010 991F rol r25
		500	727 0012 880F lsl r24
		501	728 0014 991F rol r25
		502	729 0016 7C01 movw r14,r24
		503	730 0018 0027 clr r16
		504	731 001a F7FC sbrc r15,7
		505	732 001c 0095 com r16
		506	733 001e 102F mov r17,r16
		507	734 0020 8091 0000 lds r24,IntegralNick
		508	735 0024 9091 0000 lds r25,(IntegralNick)+1
		509	736 0028 A091 0000 lds r26,(IntegralNick)+2
		510	737 002c B091 0000 lds r27,(IntegralNick)+3
		511	738 0030 BC01 movw r22,r24
		512	739 0032 CD01 movw r24,r26
		513	740 0034 A801 movw r20,r16
		514	741 0036 9701 movw r18,r14
		515	742 0038 0E94 0000 call __divmodsi4
		516	743 003c 3093 0000 sts (DebugOut+2)+1,r19
		517	744 0040 2093 0000 sts DebugOut+2,r18
		518	745 0044 8091 0000 lds r24,IntegralRoll
		519	746 0048 9091 0000 lds r25,(IntegralRoll)+1
		520	747 004c A091 0000 lds r26,(IntegralRoll)+2
		521	748 0050 B091 0000 lds r27,(IntegralRoll)+3
		522	749 0054 BC01 movw r22,r24
		523	750 0056 CD01 movw r24,r26
		524	751 0058 A801 movw r20,r16
		525	752 005a 9701 movw r18,r14
		526	753 005c 0E94 0000 call __divmodsi4
		527	754 0060 3093 0000 sts (DebugOut+4)+1,r19
		528	755 0064 2093 0000 sts DebugOut+4,r18
		529	756 0068 8091 0000 lds r24,Mittelwert_AccNick
		530	757 006c 9091 0000 lds r25,(Mittelwert_AccNick)+1
		531	758 0070 97FD sbrc r25,7
		532	759 0072 0396 adiw r24,3
		533	760 .L2:
		534	761 0074 9595 asr r25
		535	762 0076 8795 ror r24
		536	763 0078 9595 asr r25
		537	764 007a 8795 ror r24
		538	765 007c 9093 0000 sts (DebugOut+6)+1,r25
		539	766 0080 8093 0000 sts DebugOut+6,r24
		540	767 0084 8091 0000 lds r24,Mittelwert_AccRoll
		541	768 0088 9091 0000 lds r25,(Mittelwert_AccRoll)+1
		542	769 008c 97FD sbrc r25,7
		543	770 008e 0396 adiw r24,3
		544	771 .L3:
		545	772 0090 9595 asr r25
		546	773 0092 8795 ror r24
		547	774 0094 9595 asr r25
		548	775 0096 8795 ror r24
		549	776 0098 9093 0000 sts (DebugOut+8)+1,r25
		550	777 009c 8093 0000 sts DebugOut+8,r24
		551	778 00a0 8091 0000 lds r24,AdNeutralGier
		552	779 00a4 9091 0000 lds r25,(AdNeutralGier)+1
		553	780 00a8 2091 0000 lds r18,AdWertGier
		554	781 00ac 3091 0000 lds r19,(AdWertGier)+1
		555	782 00b0 821B sub r24,r18
		556	783 00b2 930B sbc r25,r19
		557	784 00b4 9093 0000 sts (DebugOut+10)+1,r25
		558	785 00b8 8093 0000 sts DebugOut+10,r24
		559	786 00bc 8091 0000 lds r24,HoehenWert
		560	787 00c0 9091 0000 lds r25,(HoehenWert)+1
		561	788 00c4 A091 0000 lds r26,(HoehenWert)+2
		562	789 00c8 B091 0000 lds r27,(HoehenWert)+3
		563	790 00cc BC01 movw r22,r24
		564	791 00ce CD01 movw r24,r26
		565	792 00d0 25E0 ldi r18,lo8(5)
		566	793 00d2 30E0 ldi r19,hi8(5)
		567	794 00d4 40E0 ldi r20,hlo8(5)
		568	795 00d6 50E0 ldi r21,hhi8(5)
		569	796 00d8 0E94 0000 call __divmodsi4
		570	797 00dc 3093 0000 sts (DebugOut+12)+1,r19
		571	798 00e0 2093 0000 sts DebugOut+12,r18
		572	799 00e4 8091 0000 lds r24,AdWertAccHoch
		573	800 00e8 9091 0000 lds r25,(AdWertAccHoch)+1
		574	801 00ec 9093 0000 sts (DebugOut+14)+1,r25
		575	802 00f0 8093 0000 sts DebugOut+14,r24
		576	803 00f4 8091 0000 lds r24,UBat
		577	804 00f8 9091 0000 lds r25,(UBat)+1
		578	805 00fc 9093 0000 sts (DebugOut+16)+1,r25
		579	806 0100 8093 0000 sts DebugOut+16,r24
		580	807 0104 8091 0000 lds r24,Motor+1
		581	808 0108 9927 clr r25
		582	809 010a 9093 0000 sts (DebugOut+18)+1,r25
		583	810 010e 8093 0000 sts DebugOut+18,r24
		584	811 0112 8091 0000 lds r24,Motor+9
		585	812 0116 9927 clr r25
		586	813 0118 9093 0000 sts (DebugOut+20)+1,r25
		587	814 011c 8093 0000 sts DebugOut+20,r24
		588	815 0120 8091 0000 lds r24,Motor+17
		589	816 0124 9927 clr r25
		590	817 0126 9093 0000 sts (DebugOut+22)+1,r25
		591	818 012a 8093 0000 sts DebugOut+22,r24
		592	819 012e 8091 0000 lds r24,Motor+25
		593	820 0132 9927 clr r25
		594	821 0134 9093 0000 sts (DebugOut+24)+1,r25
		595	822 0138 8093 0000 sts DebugOut+24,r24
		596	823 013c 8091 0000 lds r24,Motor+33
		597	824 0140 9927 clr r25
		598	825 0142 9093 0000 sts (DebugOut+26)+1,r25
		599	826 0146 8093 0000 sts DebugOut+26,r24
		600	827 014a 8091 0000 lds r24,Motor+41
		601	828 014e 9927 clr r25
		602	829 0150 9093 0000 sts (DebugOut+28)+1,r25
		603	830 0154 8093 0000 sts DebugOut+28,r24
		604	831 0158 8091 0000 lds r24,Motor+49
		605	832 015c 9927 clr r25
		606	833 015e 9093 0000 sts (DebugOut+30)+1,r25
		607	834 0162 8093 0000 sts DebugOut+30,r24
		608	835 0166 8091 0000 lds r24,Motor+57
		609	836 016a 9927 clr r25
		610	837 016c 9093 0000 sts (DebugOut+32)+1,r25
		611	838 0170 8093 0000 sts DebugOut+32,r24
		612	839 0174 8091 0000 lds r24,SenderOkay
		613	840 0178 9927 clr r25
		614	841 017a 9093 0000 sts (DebugOut+34)+1,r25
		615	842 017e 8093 0000 sts DebugOut+34,r24
		616	843 0182 8091 0000 lds r24,ErsatzKompass
		617	844 0186 9091 0000 lds r25,(ErsatzKompass)+1
		618	845 018a A091 0000 lds r26,(ErsatzKompass)+2
		619	846 018e B091 0000 lds r27,(ErsatzKompass)+3
		620	847 0192 2091 0000 lds r18,GIER_GRAD_FAKTOR
		621	848 0196 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1
		622	849 019a 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2
		623	850 019e 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3
		624	851 01a2 BC01 movw r22,r24
		625	852 01a4 CD01 movw r24,r26
		626	853 01a6 0E94 0000 call __divmodsi4
		627	854 01aa 3093 0000 sts (DebugOut+36)+1,r19
		628	855 01ae 2093 0000 sts DebugOut+36,r18
		629	856 01b2 8091 0000 lds r24,Capacity
		630	857 01b6 9091 0000 lds r25,(Capacity)+1
		631	858 01ba 9093 0000 sts (DebugOut+38)+1,r25
		632	859 01be 8093 0000 sts DebugOut+38,r24
		633	860 01c2 8091 0000 lds r24,Capacity+4
		634	861 01c6 9091 0000 lds r25,(Capacity+4)+1
		635	862 01ca 9093 0000 sts (DebugOut+40)+1,r25
		636	863 01ce 8093 0000 sts DebugOut+40,r24
		637	864 01d2 8091 0000 lds r24,ServoNickValue
		638	865 01d6 9091 0000 lds r25,(ServoNickValue)+1
		639	866 01da 9093 0000 sts (DebugOut+42)+1,r25
		640	867 01de 8093 0000 sts DebugOut+42,r24
		641	868 01e2 8091 0000 lds r24,KompassValue
		642	869 01e6 9091 0000 lds r25,(KompassValue)+1
		643	870 01ea 9093 0000 sts (DebugOut+44)+1,r25
		644	871 01ee 8093 0000 sts DebugOut+44,r24
		645	872 01f2 1092 0000 sts (DebugOut+46)+1,__zero_reg__
		646	873 01f6 1092 0000 sts DebugOut+46,__zero_reg__
		647	874 01fa 8091 0000 lds r24,Capacity+6
		648	875 01fe 9927 clr r25
		649	876 0200 9093 0000 sts (DebugOut+48)+1,r25
		650	877 0204 8093 0000 sts DebugOut+48,r24
		651	878 0208 8091 0000 lds r24,GPS_Nick
		652	879 020c 9091 0000 lds r25,(GPS_Nick)+1
		653	880 0210 9093 0000 sts (DebugOut+50)+1,r25
		654	881 0214 8093 0000 sts DebugOut+50,r24
		655	882 0218 8091 0000 lds r24,GPS_Roll
		656	883 021c 9091 0000 lds r25,(GPS_Roll)+1
		657	884 0220 9093 0000 sts (DebugOut+52)+1,r25
		658	885 0224 8093 0000 sts DebugOut+52,r24
		659	886 0228 8091 0000 lds r24,VersionInfo+5
		660	887 022c 8823 tst r24
		661	888 022e 01F4 brne .L5
		662	889 0230 8091 0000 lds r24,VersionInfo+6
		663	890 0234 8823 tst r24
		664	891 0236 01F0 breq .L4
		665	892 .L5:
		666	893 0238 8091 0000 lds r24,DebugOut+1
		667	894 023c 8160 ori r24,lo8(1)
		668	895 023e 00C0 rjmp .L7
		669	896 .L4:
		670	897 0240 8091 0000 lds r24,DebugOut+1
		671	898 0244 8E7F andi r24,lo8(-2)
		672	899 .L7:
		673	900 0246 8093 0000 sts DebugOut+1,r24
		674	901 /* epilogue: frame size=0 */
		675	902 024a 1F91 pop r17
		676	903 024c 0F91 pop r16
		677	904 024e FF90 pop r15
		678	905 0250 EF90 pop r14
		679	906 0252 0895 ret
		680	907 /* epilogue end (size=5) */
		681	908 /* function CopyDebugValues size 300 (291) */
		682	910 .global Piep
		683	912 Piep:
		684	913 /* prologue: frame size=0 */
		685	914 0254 EF92 push r14
		686	915 0256 FF92 push r15
		687	916 0258 1F93 push r17
		688	917 025a CF93 push r28
		689	918 025c DF93 push r29
		690	919 /* prologue end (size=5) */
		691	920 025e 182F mov r17,r24
		692	921 0260 7B01 movw r14,r22
		693	922 0262 8091 0000 lds r24,MotorenEin
		694	923 0266 8823 tst r24
		695	924 0268 01F4 brne .L8
		696	925 026a 8091 0000 lds r24,PlatinenVersion
		697	926 026e 8C30 cpi r24,lo8(12)
		698	927 0270 00F0 brlo .L11
		699	928 0272 8631 cpi r24,lo8(22)
		700	929 0274 01F4 brne .L10
		701	930 .L11:
		702	931 0276 2998 cbi 37-0x20,1
		703	932 0278 00C0 rjmp .L12
		704	933 .L10:
		705	934 027a 299A sbi 37-0x20,1
		706	935 .L12:
		707	936 027c 1150 subi r17,lo8(-(-1))
		708	937 027e 1F3F cpi r17,lo8(-1)
		709	938 0280 01F0 breq .L26
		710	939 0282 F092 0000 sts (beeptime)+1,r15
		711	940 0286 E092 0000 sts beeptime,r14
		712	941 028a E701 movw r28,r14
		713	942 .L34:
		714	943 028c 8091 0000 lds r24,beeptime
		715	944 0290 9091 0000 lds r25,(beeptime)+1
		716	945 0294 892B or r24,r25
		717	946 0296 01F4 brne .L31
		718	947 0298 2097 sbiw r28,0
		719	948 029a 01F0 breq .L12
		720	949 .L31:
		721	950 029c 8091 0000 lds r24,UpdateMotor
		722	951 02a0 8823 tst r24
		723	952 02a2 01F0 breq .L34
		724	953 02a4 1092 0000 sts UpdateMotor,__zero_reg__
		725	954 02a8 8091 0000 lds r24,beeptime
		726	955 02ac 9091 0000 lds r25,(beeptime)+1
		727	956 02b0 892B or r24,r25
		728	957 02b2 01F4 brne .L19
		729	958 02b4 2197 sbiw r28,1
		730	959 .L19:
		731	960 02b6 0E94 0000 call LIBFC_Polling
		732	961 02ba 00C0 rjmp .L34
		733	962 .L26:
		734	963 02bc 8091 0000 lds r24,PlatinenVersion
		735	964 02c0 8C30 cpi r24,lo8(12)
		736	965 02c2 00F0 brlo .L23
		737	966 02c4 8631 cpi r24,lo8(22)
		738	967 02c6 01F4 brne .L22
		739	968 .L23:
		740	969 02c8 299A sbi 37-0x20,1
		741	970 02ca 00C0 rjmp .L8
		742	971 .L22:
		743	972 02cc 2998 cbi 37-0x20,1
		744	973 .L8:
		745	974 /* epilogue: frame size=0 */
		746	975 02ce DF91 pop r29
		747	976 02d0 CF91 pop r28
		748	977 02d2 1F91 pop r17
		749	978 02d4 FF90 pop r15
		750	979 02d6 EF90 pop r14
		751	980 02d8 0895 ret
		752	981 /* epilogue end (size=6) */
		753	982 /* function Piep size 67 (56) */
		754	984 .global CalibrierMittelwert
		755	986 CalibrierMittelwert:
		756	987 /* prologue: frame size=0 */
		757	988 02da CF93 push r28
		758	989 02dc DF93 push r29
		759	990 /* prologue end (size=2) */
		760	991 02de 8091 0000 lds r24,PlatinenVersion
		761	992 02e2 8D30 cpi r24,lo8(13)
		762	993 02e4 01F4 brne .L36
		763	994 02e6 0E94 0000 call SucheGyroOffset
		764	995 .L36:
		765	996 02ea 1092 7A00 sts 122,__zero_reg__
		766	997 02ee 8091 0000 lds r24,AdWertNick
		767	998 02f2 9091 0000 lds r25,(AdWertNick)+1
		768	999 02f6 9093 0000 sts (MesswertNick)+1,r25
		769	1000 02fa 8093 0000 sts MesswertNick,r24
		770	1001 02fe 8091 0000 lds r24,AdWertRoll
		771	1002 0302 9091 0000 lds r25,(AdWertRoll)+1
		772	1003 0306 9093 0000 sts (MesswertRoll)+1,r25
		773	1004 030a 8093 0000 sts MesswertRoll,r24
		774	1005 030e 8091 0000 lds r24,AdWertGier
		775	1006 0312 9091 0000 lds r25,(AdWertGier)+1
		776	1007 0316 9093 0000 sts (MesswertGier)+1,r25
		777	1008 031a 8093 0000 sts MesswertGier,r24
		778	1009 031e 2091 0000 lds r18,AdWertAccNick
		779	1010 0322 3091 0000 lds r19,(AdWertAccNick)+1
		780	1011 0326 C901 movw r24,r18
		781	1012 0328 880F lsl r24
		782	1013 032a 991F rol r25
		783	1014 032c 880F lsl r24
		784	1015 032e 991F rol r25
		785	1016 0330 820F add r24,r18
		786	1017 0332 931F adc r25,r19
		787	1018 0334 820F add r24,r18
		788	1019 0336 931F adc r25,r19
		789	1020 0338 9093 0000 sts (Mittelwert_AccNick)+1,r25
		790	1021 033c 8093 0000 sts Mittelwert_AccNick,r24
		791	1022 0340 2091 0000 lds r18,AdWertAccRoll
		792	1023 0344 3091 0000 lds r19,(AdWertAccRoll)+1
		793	1024 0348 C901 movw r24,r18
		794	1025 034a 880F lsl r24
		795	1026 034c 991F rol r25
		796	1027 034e 880F lsl r24
		797	1028 0350 991F rol r25
		798	1029 0352 820F add r24,r18
		799	1030 0354 931F adc r25,r19
		800	1031 0356 820F add r24,r18
		801	1032 0358 931F adc r25,r19
		802	1033 035a 9093 0000 sts (Mittelwert_AccRoll)+1,r25
		803	1034 035e 8093 0000 sts Mittelwert_AccRoll,r24
		804	1035 0362 8FEC ldi r24,lo8(-49)
		805	1036 0364 8093 7A00 sts 122,r24
		806	1037 0368 A0E0 ldi r26,lo8(Poti)
		807	1038 036a B0E0 ldi r27,hi8(Poti)
		808	1039 036c C0E0 ldi r28,lo8(EE_Parameter+5)
		809	1040 036e D0E0 ldi r29,hi8(EE_Parameter+5)
		810	1041 0370 97E0 ldi r25,lo8(7)
		811	1042 .L46:
		812	1043 0372 8991 ld r24,Y+
		813	1044 0374 E82F mov r30,r24
		814	1045 0376 FF27 clr r31
		815	1046 0378 EE0F add r30,r30
		816	1047 037a FF1F adc r31,r31
		817	1048 037c E050 subi r30,lo8(-(PPM_in))
		818	1049 037e F040 sbci r31,hi8(-(PPM_in))
		819	1050 0380 0190 ld __tmp_reg__,Z+
		820	1051 0382 F081 ld r31,Z
		821	1052 0384 E02D mov r30,__tmp_reg__
		822	1053 0386 E158 subi r30,lo8(-(127))
		823	1054 0388 FF4F sbci r31,hi8(-(127))
		824	1055 038a 1E16 cp __zero_reg__,r30
		825	1056 038c 1F06 cpc __zero_reg__,r31
		826	1057 038e 04F0 brlt .L40
		827	1058 0390 E0E0 ldi r30,lo8(0)
		828	1059 0392 F0E0 ldi r31,hi8(0)
		829	1060 0394 00C0 rjmp .L41
		830	1061 .L40:
		831	1062 0396 EF3F cpi r30,255
		832	1063 0398 F105 cpc r31,__zero_reg__
		833	1064 039a 04F0 brlt .L41
		834	1065 039c EFEF ldi r30,lo8(255)
		835	1066 039e F0E0 ldi r31,hi8(255)
		836	1067 .L41:
		837	1068 03a0 8C91 ld r24,X
		838	1069 03a2 282F mov r18,r24
		839	1070 03a4 3327 clr r19
		840	1071 03a6 E217 cp r30,r18
		841	1072 03a8 F307 cpc r31,r19
		842	1073 03aa 04F4 brge .L43
		843	1074 03ac 8150 subi r24,lo8(-(-1))
		844	1075 03ae 00C0 rjmp .L49
		845	1076 .L43:
		846	1077 03b0 2E17 cp r18,r30
		847	1078 03b2 3F07 cpc r19,r31
		848	1079 03b4 04F4 brge .L39
		849	1080 03b6 8F5F subi r24,lo8(-(1))
		850	1081 .L49:
		851	1082 03b8 8C93 st X,r24
		852	1083 .L39:
		853	1084 03ba 9150 subi r25,lo8(-(-1))
		854	1085 03bc 1196 adiw r26,1
		855	1086 03be 97FF sbrs r25,7
		856	1087 03c0 00C0 rjmp .L46
		857	1088 03c2 8091 0000 lds r24,EE_Parameter+65
		858	1089 03c6 9927 clr r25
		859	1090 03c8 AA27 clr r26
		860	1091 03ca BB27 clr r27
		861	1092 03cc BC01 movw r22,r24
		862	1093 03ce CD01 movw r24,r26
		863	1094 03d0 24EC ldi r18,lo8(2500)
		864	1095 03d2 39E0 ldi r19,hi8(2500)
		865	1096 03d4 40E0 ldi r20,hlo8(2500)
		866	1097 03d6 50E0 ldi r21,hhi8(2500)
		867	1098 03d8 0E94 0000 call __mulsi3
		868	1099 03dc DC01 movw r26,r24
		869	1100 03de CB01 movw r24,r22
		870	1101 03e0 8093 0000 sts Umschlag180Nick,r24
		871	1102 03e4 9093 0000 sts (Umschlag180Nick)+1,r25
		872	1103 03e8 A093 0000 sts (Umschlag180Nick)+2,r26
		873	1104 03ec B093 0000 sts (Umschlag180Nick)+3,r27
		874	1105 03f0 8091 0000 lds r24,EE_Parameter+66
		875	1106 03f4 9927 clr r25
		876	1107 03f6 AA27 clr r26
		877	1108 03f8 BB27 clr r27
		878	1109 03fa BC01 movw r22,r24
		879	1110 03fc CD01 movw r24,r26
		880	1111 03fe 0E94 0000 call __mulsi3
		881	1112 0402 DC01 movw r26,r24
		882	1113 0404 CB01 movw r24,r22
		883	1114 0406 8093 0000 sts Umschlag180Roll,r24
		884	1115 040a 9093 0000 sts (Umschlag180Roll)+1,r25
		885	1116 040e A093 0000 sts (Umschlag180Roll)+2,r26
		886	1117 0412 B093 0000 sts (Umschlag180Roll)+3,r27
		887	1118 /* epilogue: frame size=0 */
		888	1119 0416 DF91 pop r29
		889	1120 0418 CF91 pop r28
		890	1121 041a 0895 ret
		891	1122 /* epilogue end (size=3) */
		892	1123 /* function CalibrierMittelwert size 161 (156) */
		893	1125 .section .progmem.data,"a",@progbits
		894	1128 __c.35:
		895	1129 0000 0A0D 4143 .string "\n\rACC not calibrated!\r\n"
		896	1129 4320 6E6F
		897	1129 7420 6361
		898	1129 6C69 6272
		899	1129 6174 6564
		900	1130 .text
		901	1131 .global SetNeutral
		902	1133 SetNeutral:
		903	1134 /* prologue: frame size=0 */
		904	1135 041c A0E0 ldi r26,lo8(0)
		905	1136 041e B0E0 ldi r27,hi8(0)
		906	1137 0420 E0E0 ldi r30,pm_lo8(1f)
		907	1138 0422 F0E0 ldi r31,pm_hi8(1f)
		908	1139 0424 0C94 0000 jmp __prologue_saves__+12
		909	1140 1:
		910	1141 /* prologue end (size=6) */
		911	1142 0428 882E mov r8,r24
		912	1143 042a C0E0 ldi r28,lo8(0)
		913	1144 042c D0E0 ldi r29,hi8(0)
		914	1145 042e 7E01 movw r14,r28
		915	1146 0430 6E01 movw r12,r28
		916	1147 0432 1092 0000 sts VersionInfo+5,__zero_reg__
		917	1148 0436 D093 0000 sts (NeutralAccX)+1,r29
		918	1149 043a C093 0000 sts NeutralAccX,r28
		919	1150 043e D093 0000 sts (NeutralAccY)+1,r29
		920	1151 0442 C093 0000 sts NeutralAccY,r28
		921	1152 0446 D093 0000 sts (NeutralAccZ)+1,r29
		922	1153 044a C093 0000 sts NeutralAccZ,r28
		923	1154 044e D093 0000 sts (AdNeutralNick)+1,r29
		924	1155 0452 C093 0000 sts AdNeutralNick,r28
		925	1156 0456 D093 0000 sts (AdNeutralRoll)+1,r29
		926	1157 045a C093 0000 sts AdNeutralRoll,r28
		927	1158 045e D093 0000 sts (AdNeutralGier)+1,r29
		928	1159 0462 C093 0000 sts AdNeutralGier,r28
		929	1160 0466 1092 0000 sts Parameter_AchsKopplung1,__zero_reg__
		930	1161 046a 1092 0000 sts Parameter_AchsKopplung2,__zero_reg__
		931	1162 046e 1092 0000 sts ExpandBaro,__zero_reg__
		932	1163 0472 0E94 0000 call CalibrierMittelwert
		933	1164 0476 84E6 ldi r24,lo8(100)
		934	1165 0478 90E0 ldi r25,hi8(100)
		935	1166 047a 0E94 0000 call Delay_ms_Mess
		936	1167 047e 0E94 0000 call CalibrierMittelwert
		937	1168 0482 8091 0000 lds r24,EE_Parameter+13
		938	1169 0486 80FF sbrs r24,0
		939	1170 0488 00C0 rjmp .L51
		940	1171 048a 8091 0000 lds r24,MessLuftdruck
		941	1172 048e 9091 0000 lds r25,(MessLuftdruck)+1
		942	1173 0492 875B subi r24,lo8(951)
		943	1174 0494 9340 sbci r25,hi8(951)
		944	1175 0496 00F4 brsh .L53
		945	1176 0498 8091 0000 lds r24,MessLuftdruck
		946	1177 049c 9091 0000 lds r25,(MessLuftdruck)+1
		947	1178 04a0 8E5E subi r24,lo8(750)
		948	1179 04a2 9240 sbci r25,hi8(750)
		949	1180 04a4 00F4 brsh .L51
		950	1181 .L53:
		951	1182 04a6 0E94 0000 call SucheLuftruckOffset
		952	1183 .L51:
		953	1184 04aa 0FE1 ldi r16,lo8(31)
		954	1185 .L57:
		955	1186 04ac 8AE0 ldi r24,lo8(10)
		956	1187 04ae 90E0 ldi r25,hi8(10)
		957	1188 04b0 0E94 0000 call Delay_ms_Mess
		958	1189 04b4 8091 0000 lds r24,AdWertGier
		959	1190 04b8 9091 0000 lds r25,(AdWertGier)+1
		960	1191 04bc C80F add r28,r24
		961	1192 04be D91F adc r29,r25
		962	1193 04c0 8091 0000 lds r24,AdWertNick
		963	1194 04c4 9091 0000 lds r25,(AdWertNick)+1
		964	1195 04c8 E80E add r14,r24
		965	1196 04ca F91E adc r15,r25
		966	1197 04cc 8091 0000 lds r24,AdWertRoll
		967	1198 04d0 9091 0000 lds r25,(AdWertRoll)+1
		968	1199 04d4 C80E add r12,r24
		969	1200 04d6 D91E adc r13,r25
		970	1201 04d8 0150 subi r16,lo8(-(-1))
		971	1202 04da 07FF sbrs r16,7
		972	1203 04dc 00C0 rjmp .L57
		973	1204 04de 9701 movw r18,r14
		974	1205 04e0 205F subi r18,lo8(-(16))
		975	1206 04e2 3F4F sbci r19,hi8(-(16))
		976	1207 04e4 3695 lsr r19
		977	1208 04e6 2795 ror r18
		978	1209 04e8 3695 lsr r19
		979	1210 04ea 2795 ror r18
		980	1211 04ec 3093 0000 sts (AdNeutralNick)+1,r19
		981	1212 04f0 2093 0000 sts AdNeutralNick,r18
		982	1213 04f4 C601 movw r24,r12
		983	1214 04f6 4096 adiw r24,16
		984	1215 04f8 9695 lsr r25
		985	1216 04fa 8795 ror r24
		986	1217 04fc 9695 lsr r25
		987	1218 04fe 8795 ror r24
		988	1219 0500 9093 0000 sts (AdNeutralRoll)+1,r25
		989	1220 0504 8093 0000 sts AdNeutralRoll,r24
		990	1221 0508 6096 adiw r28,16
		991	1222 050a F5E0 ldi r31,5
		992	1223 050c D695 1: lsr r29
		993	1224 050e C795 ror r28
		994	1225 0510 FA95 dec r31
		995	1226 0512 01F4 brne 1b
		996	1227 0514 D093 0000 sts (AdNeutralGier)+1,r29
		997	1228 0518 C093 0000 sts AdNeutralGier,r28
		998	1229 051c 9093 0000 sts (StartNeutralRoll)+1,r25
		999	1230 0520 8093 0000 sts StartNeutralRoll,r24
		1000	1231 0524 3093 0000 sts (StartNeutralNick)+1,r19
		1001	1232 0528 2093 0000 sts StartNeutralNick,r18
		1002	1233 052c 8820 tst r8
		1003	1234 052e 01F4 brne .+2
		1004	1235 0530 00C0 rjmp .L58
		1005	1236 0532 8091 0000 lds r24,Mittelwert_AccNick
		1006	1237 0536 9091 0000 lds r25,(Mittelwert_AccNick)+1
		1007	1238 053a 97FF sbrs r25,7
		1008	1239 053c 00C0 rjmp .L59
		1009	1240 053e 9095 com r25
		1010	1241 0540 8195 neg r24
		1011	1242 0542 9F4F sbci r25,lo8(-1)
		1012	1243 .L59:
		1013	1244 0544 6CE0 ldi r22,lo8(12)
		1014	1245 0546 70E0 ldi r23,hi8(12)
		1015	1246 0548 0E94 0000 call __divmodhi4
		1016	1247 054c 9B01 movw r18,r22
		1017	1248 054e 7093 0000 sts (NeutralAccX)+1,r23
		1018	1249 0552 6093 0000 sts NeutralAccX,r22
		1019	1250 0556 8091 0000 lds r24,Mittelwert_AccRoll
		1020	1251 055a 9091 0000 lds r25,(Mittelwert_AccRoll)+1
		1021	1252 055e 97FF sbrs r25,7
		1022	1253 0560 00C0 rjmp .L60
		1023	1254 0562 9095 com r25
		1024	1255 0564 8195 neg r24
		1025	1256 0566 9F4F sbci r25,lo8(-1)
		1026	1257 .L60:
		1027	1258 0568 6CE0 ldi r22,lo8(12)
		1028	1259 056a 70E0 ldi r23,hi8(12)
		1029	1260 056c 0E94 0000 call __divmodhi4
		1030	1261 0570 7093 0000 sts (NeutralAccY)+1,r23
		1031	1262 0574 6093 0000 sts NeutralAccY,r22
		1032	1263 0578 8091 0000 lds r24,Aktuell_az
		1033	1264 057c 9091 0000 lds r25,(Aktuell_az)+1
		1034	1265 0580 9093 0000 sts (NeutralAccZ)+1,r25
		1035	1266 0584 8093 0000 sts NeutralAccZ,r24
		1036	1267 0588 B901 movw r22,r18
		1037	1268 058a 84E0 ldi r24,lo8(4)
		1038	1269 058c 90E0 ldi r25,hi8(4)
		1039	1270 058e 0E94 0000 call SetParamWord
		1040	1271 0592 6091 0000 lds r22,NeutralAccY
		1041	1272 0596 7091 0000 lds r23,(NeutralAccY)+1
		1042	1273 059a 86E0 ldi r24,lo8(6)
		1043	1274 059c 90E0 ldi r25,hi8(6)
		1044	1275 059e 0E94 0000 call SetParamWord
		1045	1276 05a2 6091 0000 lds r22,NeutralAccZ
		1046	1277 05a6 7091 0000 lds r23,(NeutralAccZ)+1
		1047	1278 05aa 88E0 ldi r24,lo8(8)
		1048	1279 05ac 90E0 ldi r25,hi8(8)
		1049	1280 05ae 0E94 0000 call SetParamWord
		1050	1281 05b2 00C0 rjmp .L61
		1051	1282 .L58:
		1052	1283 05b4 84E0 ldi r24,lo8(4)
		1053	1284 05b6 90E0 ldi r25,hi8(4)
		1054	1285 05b8 0E94 0000 call GetParamWord
		1055	1286 05bc 9093 0000 sts (NeutralAccX)+1,r25
		1056	1287 05c0 8093 0000 sts NeutralAccX,r24
		1057	1288 05c4 86E0 ldi r24,lo8(6)
		1058	1289 05c6 90E0 ldi r25,hi8(6)
		1059	1290 05c8 0E94 0000 call GetParamWord
		1060	1291 05cc 9093 0000 sts (NeutralAccY)+1,r25
		1061	1292 05d0 8093 0000 sts NeutralAccY,r24
		1062	1293 05d4 88E0 ldi r24,lo8(8)
		1063	1294 05d6 90E0 ldi r25,hi8(8)
		1064	1295 05d8 0E94 0000 call GetParamWord
		1065	1296 05dc 9C01 movw r18,r24
		1066	1297 05de 9093 0000 sts (NeutralAccZ)+1,r25
		1067	1298 05e2 8093 0000 sts NeutralAccZ,r24
		1068	1299 05e6 8091 0000 lds r24,NeutralAccX
		1069	1300 05ea 9091 0000 lds r25,(NeutralAccX)+1
		1070	1301 05ee 8150 subi r24,lo8(2049)
		1071	1302 05f0 9840 sbci r25,hi8(2049)
		1072	1303 05f2 00F4 brsh .L63
		1073	1304 05f4 8091 0000 lds r24,NeutralAccY
		1074	1305 05f8 9091 0000 lds r25,(NeutralAccY)+1
		1075	1306 05fc 8150 subi r24,lo8(2049)
		1076	1307 05fe 9840 sbci r25,hi8(2049)
		1077	1308 0600 00F4 brsh .L63
		1078	1309 0602 2150 subi r18,lo8(1025)
		1079	1310 0604 3440 sbci r19,hi8(1025)
		1080	1311 0606 00F0 brlo .L61
		1081	1312 .L63:
		1082	1313 0608 80E0 ldi r24,lo8(__c.35)
		1083	1314 060a 90E0 ldi r25,hi8(__c.35)
		1084	1315 060c 9F93 push r25
		1085	1316 060e 8F93 push r24
		1086	1317 0610 80E0 ldi r24,lo8(pm(uart_putchar))
		1087	1318 0612 90E0 ldi r25,hi8(pm(uart_putchar))
		1088	1319 0614 9F93 push r25
		1089	1320 0616 8F93 push r24
		1090	1321 0618 E091 0000 lds r30,_printf_P
		1091	1322 061c F091 0000 lds r31,(_printf_P)+1
		1092	1323 0620 0995 icall
		1093	1324 0622 8091 0000 lds r24,Mittelwert_AccNick
		1094	1325 0626 9091 0000 lds r25,(Mittelwert_AccNick)+1
		1095	1326 062a 97FF sbrs r25,7
		1096	1327 062c 00C0 rjmp .L64
		1097	1328 062e 9095 com r25
		1098	1329 0630 8195 neg r24
		1099	1330 0632 9F4F sbci r25,lo8(-1)
		1100	1331 .L64:
		1101	1332 0634 6CE0 ldi r22,lo8(12)
		1102	1333 0636 70E0 ldi r23,hi8(12)
		1103	1334 0638 0E94 0000 call __divmodhi4
		1104	1335 063c 7093 0000 sts (NeutralAccX)+1,r23
		1105	1336 0640 6093 0000 sts NeutralAccX,r22
		1106	1337 0644 8091 0000 lds r24,Mittelwert_AccRoll
		1107	1338 0648 9091 0000 lds r25,(Mittelwert_AccRoll)+1
		1108	1339 064c 97FF sbrs r25,7
		1109	1340 064e 00C0 rjmp .L65
		1110	1341 0650 9095 com r25
		1111	1342 0652 8195 neg r24
		1112	1343 0654 9F4F sbci r25,lo8(-1)
		1113	1344 .L65:
		1114	1345 0656 6CE0 ldi r22,lo8(12)
		1115	1346 0658 70E0 ldi r23,hi8(12)
		1116	1347 065a 0E94 0000 call __divmodhi4
		1117	1348 065e 7093 0000 sts (NeutralAccY)+1,r23
		1118	1349 0662 6093 0000 sts NeutralAccY,r22
		1119	1350 0666 8091 0000 lds r24,Aktuell_az
		1120	1351 066a 9091 0000 lds r25,(Aktuell_az)+1
		1121	1352 066e 9093 0000 sts (NeutralAccZ)+1,r25
		1122	1353 0672 8093 0000 sts NeutralAccZ,r24
		1123	1354 0676 0F90 pop __tmp_reg__
		1124	1355 0678 0F90 pop __tmp_reg__
		1125	1356 067a 0F90 pop __tmp_reg__
		1126	1357 067c 0F90 pop __tmp_reg__
		1127	1358 .L61:
		1128	1359 067e 1092 0000 sts (MesswertNick)+1,__zero_reg__
		1129	1360 0682 1092 0000 sts MesswertNick,__zero_reg__
		1130	1361 0686 1092 0000 sts (MesswertRoll)+1,__zero_reg__
		1131	1362 068a 1092 0000 sts MesswertRoll,__zero_reg__
		1132	1363 068e 1092 0000 sts (MesswertGier)+1,__zero_reg__
		1133	1364 0692 1092 0000 sts MesswertGier,__zero_reg__
		1134	1365 0696 84E6 ldi r24,lo8(100)
		1135	1366 0698 90E0 ldi r25,hi8(100)
		1136	1367 069a 0E94 0000 call Delay_ms_Mess
		1137	1368 069e 8091 0000 lds r24,AdWertAccNick
		1138	1369 06a2 9091 0000 lds r25,(AdWertAccNick)+1
		1139	1370 06a6 9C01 movw r18,r24
		1140	1371 06a8 220F lsl r18
		1141	1372 06aa 331F rol r19
		1142	1373 06ac 220F lsl r18
		1143	1374 06ae 331F rol r19
		1144	1375 06b0 280F add r18,r24
		1145	1376 06b2 391F adc r19,r25
		1146	1377 06b4 280F add r18,r24
		1147	1378 06b6 391F adc r19,r25
		1148	1379 06b8 3093 0000 sts (Mittelwert_AccNick)+1,r19
		1149	1380 06bc 2093 0000 sts Mittelwert_AccNick,r18
		1150	1381 06c0 8091 0000 lds r24,AdWertAccRoll
		1151	1382 06c4 9091 0000 lds r25,(AdWertAccRoll)+1
		1152	1383 06c8 8C01 movw r16,r24
		1153	1384 06ca 000F lsl r16
		1154	1385 06cc 111F rol r17
		1155	1386 06ce 000F lsl r16
		1156	1387 06d0 111F rol r17
		1157	1388 06d2 080F add r16,r24
		1158	1389 06d4 191F adc r17,r25
		1159	1390 06d6 080F add r16,r24
		1160	1391 06d8 191F adc r17,r25
		1161	1392 06da 1093 0000 sts (Mittelwert_AccRoll)+1,r17
		1162	1393 06de 0093 0000 sts Mittelwert_AccRoll,r16
		1163	1394 06e2 8091 0000 lds r24,EE_Parameter+28
		1164	1395 06e6 C82E mov r12,r24
		1165	1396 06e8 DD24 clr r13
		1166	1397 06ea EE24 clr r14
		1167	1398 06ec FF24 clr r15
		1168	1399 06ee 4427 clr r20
		1169	1400 06f0 37FD sbrc r19,7
		1170	1401 06f2 4095 com r20
		1171	1402 06f4 542F mov r21,r20
		1172	1403 06f6 C701 movw r24,r14
		1173	1404 06f8 B601 movw r22,r12
		1174	1405 06fa 0E94 0000 call __mulsi3
		1175	1406 06fe 4B01 movw r8,r22
		1176	1407 0700 5C01 movw r10,r24
		1177	1408 0702 6093 0000 sts IntegralNick,r22
		1178	1409 0706 7093 0000 sts (IntegralNick)+1,r23
		1179	1410 070a 8093 0000 sts (IntegralNick)+2,r24
		1180	1411 070e 9093 0000 sts (IntegralNick)+3,r25
		1181	1412 0712 9801 movw r18,r16
		1182	1413 0714 4427 clr r20
		1183	1414 0716 37FD sbrc r19,7
		1184	1415 0718 4095 com r20
		1185	1416 071a 542F mov r21,r20
		1186	1417 071c C701 movw r24,r14
		1187	1418 071e B601 movw r22,r12
		1188	1419 0720 0E94 0000 call __mulsi3
		1189	1420 0724 DC01 movw r26,r24
		1190	1421 0726 CB01 movw r24,r22
		1191	1422 0728 8093 0000 sts IntegralRoll,r24
		1192	1423 072c 9093 0000 sts (IntegralRoll)+1,r25
		1193	1424 0730 A093 0000 sts (IntegralRoll)+2,r26
		1194	1425 0734 B093 0000 sts (IntegralRoll)+3,r27
		1195	1426 0738 8092 0000 sts Mess_IntegralNick,r8
		1196	1427 073c 9092 0000 sts (Mess_IntegralNick)+1,r9
		1197	1428 0740 A092 0000 sts (Mess_IntegralNick)+2,r10
		1198	1429 0744 B092 0000 sts (Mess_IntegralNick)+3,r11
		1199	1430 0748 8093 0000 sts Mess_IntegralRoll,r24
		1200	1431 074c 9093 0000 sts (Mess_IntegralRoll)+1,r25
		1201	1432 0750 A093 0000 sts (Mess_IntegralRoll)+2,r26
		1202	1433 0754 B093 0000 sts (Mess_IntegralRoll)+3,r27
		1203	1434 0758 1092 0000 sts Mess_Integral_Gier,__zero_reg__
		1204	1435 075c 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__
		1205	1436 0760 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__
		1206	1437 0764 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__
		1207	1438 0768 8091 0000 lds r24,Luftdruck
		1208	1439 076c 9091 0000 lds r25,(Luftdruck)+1
		1209	1440 0770 A091 0000 lds r26,(Luftdruck)+2
		1210	1441 0774 B091 0000 lds r27,(Luftdruck)+3
		1211	1442 0778 9093 0000 sts (StartLuftdruck)+1,r25
		1212	1443 077c 8093 0000 sts StartLuftdruck,r24
		1213	1444 0780 1092 0000 sts (VarioMeter)+1,__zero_reg__
		1214	1445 0784 1092 0000 sts VarioMeter,__zero_reg__
		1215	1446 0788 1092 0000 sts Mess_Integral_Hoch,__zero_reg__
		1216	1447 078c 1092 0000 sts (Mess_Integral_Hoch)+1,__zero_reg__
		1217	1448 0790 1092 0000 sts (Mess_Integral_Hoch)+2,__zero_reg__
		1218	1449 0794 1092 0000 sts (Mess_Integral_Hoch)+3,__zero_reg__
		1219	1450 0798 0091 0000 lds r16,KompassValue
		1220	1451 079c 1091 0000 lds r17,(KompassValue)+1
		1221	1452 07a0 1093 0000 sts (KompassSollWert)+1,r17
		1222	1453 07a4 0093 0000 sts KompassSollWert,r16
		1223	1454 07a8 84E6 ldi r24,lo8(100)
		1224	1455 07aa 90E0 ldi r25,hi8(100)
		1225	1456 07ac 9093 0000 sts (KompassSignalSchlecht)+1,r25
		1226	1457 07b0 8093 0000 sts KompassSignalSchlecht,r24
		1227	1458 07b4 82E3 ldi r24,lo8(50)
		1228	1459 07b6 90E0 ldi r25,hi8(50)
		1229	1460 07b8 9093 0000 sts (beeptime)+1,r25
		1230	1461 07bc 8093 0000 sts beeptime,r24
		1231	1462 07c0 8091 0000 lds r24,EE_Parameter+65
		1232	1463 07c4 9927 clr r25
		1233	1464 07c6 AA27 clr r26
		1234	1465 07c8 BB27 clr r27
		1235	1466 07ca BC01 movw r22,r24
		1236	1467 07cc CD01 movw r24,r26
		1237	1468 07ce 24EC ldi r18,lo8(2500)
		1238	1469 07d0 39E0 ldi r19,hi8(2500)
		1239	1470 07d2 40E0 ldi r20,hlo8(2500)
		1240	1471 07d4 50E0 ldi r21,hhi8(2500)
		1241	1472 07d6 0E94 0000 call __mulsi3
		1242	1473 07da DC01 movw r26,r24
		1243	1474 07dc CB01 movw r24,r22
		1244	1475 07de 8856 subi r24,lo8(-(15000))
		1245	1476 07e0 954C sbci r25,hi8(-(15000))
		1246	1477 07e2 AF4F sbci r26,hlo8(-(15000))
		1247	1478 07e4 BF4F sbci r27,hhi8(-(15000))
		1248	1479 07e6 8093 0000 sts Umschlag180Nick,r24
		1249	1480 07ea 9093 0000 sts (Umschlag180Nick)+1,r25
		1250	1481 07ee A093 0000 sts (Umschlag180Nick)+2,r26
		1251	1482 07f2 B093 0000 sts (Umschlag180Nick)+3,r27
		1252	1483 07f6 8091 0000 lds r24,EE_Parameter+66
		1253	1484 07fa 9927 clr r25
		1254	1485 07fc AA27 clr r26
		1255	1486 07fe BB27 clr r27
		1256	1487 0800 BC01 movw r22,r24
		1257	1488 0802 CD01 movw r24,r26
		1258	1489 0804 0E94 0000 call __mulsi3
		1259	1490 0808 DC01 movw r26,r24
		1260	1491 080a CB01 movw r24,r22
		1261	1492 080c 8856 subi r24,lo8(-(15000))
		1262	1493 080e 954C sbci r25,hi8(-(15000))
		1263	1494 0810 AF4F sbci r26,hlo8(-(15000))
		1264	1495 0812 BF4F sbci r27,hhi8(-(15000))
		1265	1496 0814 8093 0000 sts Umschlag180Roll,r24
		1266	1497 0818 9093 0000 sts (Umschlag180Roll)+1,r25
		1267	1498 081c A093 0000 sts (Umschlag180Roll)+2,r26
		1268	1499 0820 B093 0000 sts (Umschlag180Roll)+3,r27
		1269	1500 0824 1092 0000 sts (ExternHoehenValue)+1,__zero_reg__
		1270	1501 0828 1092 0000 sts ExternHoehenValue,__zero_reg__
		1271	1502 082c C801 movw r24,r16
		1272	1503 082e AA27 clr r26
		1273	1504 0830 97FD sbrc r25,7
		1274	1505 0832 A095 com r26
		1275	1506 0834 BA2F mov r27,r26
		1276	1507 0836 2091 0000 lds r18,GIER_GRAD_FAKTOR
		1277	1508 083a 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1
		1278	1509 083e 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2
		1279	1510 0842 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3
		1280	1511 0846 BC01 movw r22,r24
		1281	1512 0848 CD01 movw r24,r26
		1282	1513 084a 0E94 0000 call __mulsi3
		1283	1514 084e DC01 movw r26,r24
		1284	1515 0850 CB01 movw r24,r22
		1285	1516 0852 8093 0000 sts ErsatzKompass,r24
		1286	1517 0856 9093 0000 sts (ErsatzKompass)+1,r25
		1287	1518 085a A093 0000 sts (ErsatzKompass)+2,r26
		1288	1519 085e B093 0000 sts (ErsatzKompass)+3,r27
		1289	1520 0862 1092 0000 sts (GierGyroFehler)+1,__zero_reg__
		1290	1521 0866 1092 0000 sts GierGyroFehler,__zero_reg__
		1291	1522 086a 0E94 0000 call LED_Init
		1292	1523 086e 8091 0000 lds r24,FC_StatusFlags
		1293	1524 0872 8460 ori r24,lo8(4)
		1294	1525 0874 8093 0000 sts FC_StatusFlags,r24
		1295	1526 0878 8FEF ldi r24,lo8(-1)
		1296	1527 087a 8093 0000 sts FromNaviCtrl_Value,r24
		1297	1528 087e 1092 0000 sts FromNaviCtrl_Value+1,__zero_reg__
		1298	1529 0882 80E2 ldi r24,lo8(32)
		1299	1530 0884 8093 0000 sts FromNaviCtrl_Value+2,r24
		1300	1531 0888 C0E0 ldi r28,lo8(Poti)
		1301	1532 088a D0E0 ldi r29,hi8(Poti)
		1302	1533 088c A0E0 ldi r26,lo8(EE_Parameter+5)
		1303	1534 088e B0E0 ldi r27,hi8(EE_Parameter+5)
		1304	1535 0890 07E0 ldi r16,lo8(7)
		1305	1536 .L69:
		1306	1537 0892 8D91 ld r24,X+
		1307	1538 0894 E82F mov r30,r24
		1308	1539 0896 FF27 clr r31
		1309	1540 0898 EE0F add r30,r30
		1310	1541 089a FF1F adc r31,r31
		1311	1542 089c E050 subi r30,lo8(-(PPM_in))
		1312	1543 089e F040 sbci r31,hi8(-(PPM_in))
		1313	1544 08a0 8081 ld r24,Z
		1314	1545 08a2 9181 ldd r25,Z+1
		1315	1546 08a4 8158 subi r24,lo8(-(127))
		1316	1547 08a6 8993 st Y+,r24
		1317	1548 08a8 0150 subi r16,lo8(-(-1))
		1318	1549 08aa 07FF sbrs r16,7
		1319	1550 08ac 00C0 rjmp .L69
		1320	1551 08ae 84E6 ldi r24,lo8(100)
		1321	1552 08b0 8093 0000 sts SenderOkay,r24
		1322	1553 08b4 8091 0000 lds r24,ServoActive
		1323	1554 08b8 8823 tst r24
		1324	1555 08ba 01F0 breq .L70
		1325	1556 08bc 579A sbi 42-0x20,7
		1326	1557 08be 00C0 rjmp .L71
		1327	1558 .L70:
		1328	1559 08c0 80E0 ldi r24,lo8(4352)
		1329	1560 08c2 91E1 ldi r25,hi8(4352)
		1330	1561 08c4 9093 0000 sts (NickServoValue)+1,r25
		1331	1562 08c8 8093 0000 sts NickServoValue,r24
		1332	1563 .L71:
		1333	1564 08cc 8091 0000 lds r24,AdNeutralNick
		1334	1565 08d0 9091 0000 lds r25,(AdNeutralNick)+1
		1335	1566 08d4 8056 subi r24,lo8(-(-2400))
		1336	1567 08d6 9940 sbci r25,hi8(-(-2400))
		1337	1568 08d8 815C subi r24,lo8(11201)
		1338	1569 08da 9B42 sbci r25,hi8(11201)
		1339	1570 08dc 00F0 brlo .L72
		1340	1571 08de 8091 0000 lds r24,VersionInfo+5
		1341	1572 08e2 8160 ori r24,lo8(1)
		1342	1573 08e4 8093 0000 sts VersionInfo+5,r24
		1343	1574 .L72:
		1344	1575 08e8 8091 0000 lds r24,AdNeutralRoll
		1345	1576 08ec 9091 0000 lds r25,(AdNeutralRoll)+1
		1346	1577 08f0 8056 subi r24,lo8(-(-2400))
		1347	1578 08f2 9940 sbci r25,hi8(-(-2400))
		1348	1579 08f4 815C subi r24,lo8(11201)
		1349	1580 08f6 9B42 sbci r25,hi8(11201)
		1350	1581 08f8 00F0 brlo .L73
		1351	1582 08fa 8091 0000 lds r24,VersionInfo+5
		1352	1583 08fe 8260 ori r24,lo8(2)
		1353	1584 0900 8093 0000 sts VersionInfo+5,r24
		1354	1585 .L73:
		1355	1586 0904 8091 0000 lds r24,AdNeutralGier
		1356	1587 0908 9091 0000 lds r25,(AdNeutralGier)+1
		1357	1588 090c 8C52 subi r24,lo8(-(-300))
		1358	1589 090e 9140 sbci r25,hi8(-(-300))
		1359	1590 0910 8957 subi r24,lo8(1401)
		1360	1591 0912 9540 sbci r25,hi8(1401)
		1361	1592 0914 00F0 brlo .L74
		1362	1593 0916 8091 0000 lds r24,VersionInfo+5
		1363	1594 091a 8460 ori r24,lo8(4)
		1364	1595 091c 8093 0000 sts VersionInfo+5,r24
		1365	1596 .L74:
		1366	1597 0920 8091 0000 lds r24,NeutralAccX
		1367	1598 0924 9091 0000 lds r25,(NeutralAccX)+1
		1368	1599 0928 8C52 subi r24,lo8(-(-300))
		1369	1600 092a 9140 sbci r25,hi8(-(-300))
		1370	1601 092c 835C subi r24,lo8(451)
		1371	1602 092e 9140 sbci r25,hi8(451)
		1372	1603 0930 00F0 brlo .L75
		1373	1604 0932 8091 0000 lds r24,VersionInfo+5
		1374	1605 0936 8860 ori r24,lo8(8)
		1375	1606 0938 8093 0000 sts VersionInfo+5,r24
		1376	1607 .L75:
		1377	1608 093c 8091 0000 lds r24,NeutralAccY
		1378	1609 0940 9091 0000 lds r25,(NeutralAccY)+1
		1379	1610 0944 8C52 subi r24,lo8(-(-300))
		1380	1611 0946 9140 sbci r25,hi8(-(-300))
		1381	1612 0948 835C subi r24,lo8(451)
		1382	1613 094a 9140 sbci r25,hi8(451)
		1383	1614 094c 00F0 brlo .L76
		1384	1615 094e 8091 0000 lds r24,VersionInfo+5
		1385	1616 0952 8061 ori r24,lo8(16)
		1386	1617 0954 8093 0000 sts VersionInfo+5,r24
		1387	1618 .L76:
		1388	1619 0958 8091 0000 lds r24,NeutralAccZ
		1389	1620 095c 9091 0000 lds r25,(NeutralAccZ)+1
		1390	1621 0960 8050 subi r24,lo8(-(-512))
		1391	1622 0962 9240 sbci r25,hi8(-(-512))
		1392	1623 0964 8355 subi r24,lo8(339)
		1393	1624 0966 9140 sbci r25,hi8(339)
		1394	1625 0968 00F0 brlo .L77
		1395	1626 096a 8091 0000 lds r24,VersionInfo+5
		1396	1627 096e 8062 ori r24,lo8(32)
		1397	1628 0970 8093 0000 sts VersionInfo+5,r24
		1398	1629 .L77:
		1399	1630 0974 86E4 ldi r24,lo8(70)
		1400	1631 0976 8093 0000 sts carefree_old,r24
		1401	1632 097a 0E94 0000 call LIBFC_HoTT_Clear
		1402	1633 /* epilogue: frame size=0 */
		1403	1634 097e ECE0 ldi r30,12
		1404	1635 0980 CDB7 in r28,__SP_L__
		1405	1636 0982 DEB7 in r29,__SP_H__
		1406	1637 0984 0C94 0000 jmp __epilogue_restores__+12
		1407	1638 /* epilogue end (size=5) */
		1408	1639 /* function SetNeutral size 705 (694) */
		1409	1641 .lcomm tmpl.27,4
		1410	1642 .lcomm tmpl2.28,4
		1411	1643 .lcomm tmpl3.29,4
		1412	1644 .lcomm tmpl4.30,4
		1413	1645 .lcomm oldNick.31,2
		1414	1646 .lcomm oldRoll.32,2
		1415	1647 .lcomm d2Roll.33,2
		1416	1648 .lcomm d2Nick.34,2
		1417	1649 .global Mittelwert
		1418	1651 Mittelwert:
		1419	1652 /* prologue: frame size=19 */
		1420	1653 0988 A3E1 ldi r26,lo8(19)
		1421	1654 098a B0E0 ldi r27,hi8(19)
		1422	1655 098c E0E0 ldi r30,pm_lo8(1f)
		1423	1656 098e F0E0 ldi r31,pm_hi8(1f)
		1424	1657 0990 0C94 0000 jmp __prologue_saves__+0
		1425	1658 1:
		1426	1659 /* prologue end (size=6) */
		1427	1660 0994 8091 0000 lds r24,AdNeutralGier
		1428	1661 0998 9091 0000 lds r25,(AdNeutralGier)+1
		1429	1662 099c 2091 0000 lds r18,AdWertGier
		1430	1663 09a0 3091 0000 lds r19,(AdWertGier)+1
		1431	1664 09a4 821B sub r24,r18
		1432	1665 09a6 930B sbc r25,r19
		1433	1666 09a8 9093 0000 sts (MesswertGier)+1,r25
		1434	1667 09ac 8093 0000 sts MesswertGier,r24
		1435	1668 09b0 8091 0000 lds r24,AdWertNickFilter
		1436	1669 09b4 9091 0000 lds r25,(AdWertNickFilter)+1
		1437	1670 09b8 97FD sbrc r25,7
		1438	1671 09ba 0796 adiw r24,7
		1439	1672 .L83:
		1440	1673 09bc 9C01 movw r18,r24
		1441	1674 09be 13E0 ldi r17,3
		1442	1675 09c0 3595 1: asr r19
		1443	1676 09c2 2795 ror r18
		1444	1677 09c4 1A95 dec r17
		1445	1678 09c6 01F4 brne 1b
		1446	1679 09c8 3093 0000 sts (MesswertNick)+1,r19
		1447	1680 09cc 2093 0000 sts MesswertNick,r18
		1448	1681 09d0 8091 0000 lds r24,AdWertRollFilter
		1449	1682 09d4 9091 0000 lds r25,(AdWertRollFilter)+1
		1450	1683 09d8 97FD sbrc r25,7
		1451	1684 09da 0796 adiw r24,7
		1452	1685 .L84:
		1453	1686 09dc B3E0 ldi r27,3
		1454	1687 09de 9595 1: asr r25
		1455	1688 09e0 8795 ror r24
		1456	1689 09e2 BA95 dec r27
		1457	1690 09e4 01F4 brne 1b
		1458	1691 09e6 9093 0000 sts (MesswertRoll)+1,r25
		1459	1692 09ea 8093 0000 sts MesswertRoll,r24
		1460	1693 09ee 3093 0000 sts (RohMesswertNick)+1,r19
		1461	1694 09f2 2093 0000 sts RohMesswertNick,r18
		1462	1695 09f6 9093 0000 sts (RohMesswertRoll)+1,r25
		1463	1696 09fa 8093 0000 sts RohMesswertRoll,r24
		1464	1697 09fe 8091 0000 lds r24,Mittelwert_AccNick
		1465	1698 0a02 9091 0000 lds r25,(Mittelwert_AccNick)+1
		1466	1699 0a06 AC01 movw r20,r24
		1467	1700 0a08 440F lsl r20
		1468	1701 0a0a 551F rol r21
		1469	1702 0a0c 480F add r20,r24
		1470	1703 0a0e 591F adc r21,r25
		1471	1704 0a10 2091 0000 lds r18,AdWertAccNick
		1472	1705 0a14 3091 0000 lds r19,(AdWertAccNick)+1
		1473	1706 0a18 C901 movw r24,r18
		1474	1707 0a1a 880F lsl r24
		1475	1708 0a1c 991F rol r25
		1476	1709 0a1e 880F lsl r24
		1477	1710 0a20 991F rol r25
		1478	1711 0a22 820F add r24,r18
		1479	1712 0a24 931F adc r25,r19
		1480	1713 0a26 820F add r24,r18
		1481	1714 0a28 931F adc r25,r19
		1482	1715 0a2a 480F add r20,r24
		1483	1716 0a2c 591F adc r21,r25
		1484	1717 0a2e 57FF sbrs r21,7
		1485	1718 0a30 00C0 rjmp .L85
		1486	1719 0a32 4D5F subi r20,lo8(-(3))
		1487	1720 0a34 5F4F sbci r21,hi8(-(3))
		1488	1721 .L85:
		1489	1722 0a36 5595 asr r21
		1490	1723 0a38 4795 ror r20
		1491	1724 0a3a 5595 asr r21
		1492	1725 0a3c 4795 ror r20
		1493	1726 0a3e 5093 0000 sts (Mittelwert_AccNick)+1,r21
		1494	1727 0a42 4093 0000 sts Mittelwert_AccNick,r20
		1495	1728 0a46 8091 0000 lds r24,Mittelwert_AccRoll
		1496	1729 0a4a 9091 0000 lds r25,(Mittelwert_AccRoll)+1
		1497	1730 0a4e AC01 movw r20,r24
		1498	1731 0a50 440F lsl r20
		1499	1732 0a52 551F rol r21
		1500	1733 0a54 480F add r20,r24
		1501	1734 0a56 591F adc r21,r25
		1502	1735 0a58 2091 0000 lds r18,AdWertAccRoll
		1503	1736 0a5c 3091 0000 lds r19,(AdWertAccRoll)+1
		1504	1737 0a60 C901 movw r24,r18
		1505	1738 0a62 880F lsl r24
		1506	1739 0a64 991F rol r25
		1507	1740 0a66 880F lsl r24
		1508	1741 0a68 991F rol r25
		1509	1742 0a6a 820F add r24,r18
		1510	1743 0a6c 931F adc r25,r19
		1511	1744 0a6e 820F add r24,r18
		1512	1745 0a70 931F adc r25,r19
		1513	1746 0a72 480F add r20,r24
		1514	1747 0a74 591F adc r21,r25
		1515	1748 0a76 57FF sbrs r21,7
		1516	1749 0a78 00C0 rjmp .L86
		1517	1750 0a7a 4D5F subi r20,lo8(-(3))
		1518	1751 0a7c 5F4F sbci r21,hi8(-(3))
		1519	1752 .L86:
		1520	1753 0a7e 5595 asr r21
		1521	1754 0a80 4795 ror r20
		1522	1755 0a82 5595 asr r21
		1523	1756 0a84 4795 ror r20
		1524	1757 0a86 5093 0000 sts (Mittelwert_AccRoll)+1,r21
		1525	1758 0a8a 4093 0000 sts Mittelwert_AccRoll,r20
		1526	1759 0a8e 2091 0000 lds r18,AdWertAccNick
		1527	1760 0a92 3091 0000 lds r19,(AdWertAccNick)+1
		1528	1761 0a96 C901 movw r24,r18
		1529	1762 0a98 880F lsl r24
		1530	1763 0a9a 991F rol r25
		1531	1764 0a9c 880F lsl r24
		1532	1765 0a9e 991F rol r25
		1533	1766 0aa0 820F add r24,r18
		1534	1767 0aa2 931F adc r25,r19
		1535	1768 0aa4 820F add r24,r18
		1536	1769 0aa6 931F adc r25,r19
		1537	1770 0aa8 9C01 movw r18,r24
		1538	1771 0aaa 4427 clr r20
		1539	1772 0aac 37FD sbrc r19,7
		1540	1773 0aae 4095 com r20
		1541	1774 0ab0 542F mov r21,r20
		1542	1775 0ab2 8091 0000 lds r24,IntegralAccNick
		1543	1776 0ab6 9091 0000 lds r25,(IntegralAccNick)+1
		1544	1777 0aba A091 0000 lds r26,(IntegralAccNick)+2
		1545	1778 0abe B091 0000 lds r27,(IntegralAccNick)+3
		1546	1779 0ac2 820F add r24,r18
		1547	1780 0ac4 931F adc r25,r19
		1548	1781 0ac6 A41F adc r26,r20
		1549	1782 0ac8 B51F adc r27,r21
		1550	1783 0aca 8093 0000 sts IntegralAccNick,r24
		1551	1784 0ace 9093 0000 sts (IntegralAccNick)+1,r25
		1552	1785 0ad2 A093 0000 sts (IntegralAccNick)+2,r26
		1553	1786 0ad6 B093 0000 sts (IntegralAccNick)+3,r27
		1554	1787 0ada 2091 0000 lds r18,AdWertAccRoll
		1555	1788 0ade 3091 0000 lds r19,(AdWertAccRoll)+1
		1556	1789 0ae2 C901 movw r24,r18
		1557	1790 0ae4 880F lsl r24
		1558	1791 0ae6 991F rol r25
		1559	1792 0ae8 880F lsl r24
		1560	1793 0aea 991F rol r25
		1561	1794 0aec 820F add r24,r18
		1562	1795 0aee 931F adc r25,r19
		1563	1796 0af0 820F add r24,r18
		1564	1797 0af2 931F adc r25,r19
		1565	1798 0af4 9C01 movw r18,r24
		1566	1799 0af6 4427 clr r20
		1567	1800 0af8 37FD sbrc r19,7
		1568	1801 0afa 4095 com r20
		1569	1802 0afc 542F mov r21,r20
		1570	1803 0afe 8091 0000 lds r24,IntegralAccRoll
		1571	1804 0b02 9091 0000 lds r25,(IntegralAccRoll)+1
		1572	1805 0b06 A091 0000 lds r26,(IntegralAccRoll)+2
		1573	1806 0b0a B091 0000 lds r27,(IntegralAccRoll)+3
		1574	1807 0b0e 820F add r24,r18
		1575	1808 0b10 931F adc r25,r19
		1576	1809 0b12 A41F adc r26,r20
		1577	1810 0b14 B51F adc r27,r21
		1578	1811 0b16 8093 0000 sts IntegralAccRoll,r24
		1579	1812 0b1a 9093 0000 sts (IntegralAccRoll)+1,r25
		1580	1813 0b1e A093 0000 sts (IntegralAccRoll)+2,r26
		1581	1814 0b22 B093 0000 sts (IntegralAccRoll)+3,r27
		1582	1815 0b26 8091 0000 lds r24,NaviAccNick
		1583	1816 0b2a 9091 0000 lds r25,(NaviAccNick)+1
		1584	1817 0b2e 2091 0000 lds r18,AdWertAccNick
		1585	1818 0b32 3091 0000 lds r19,(AdWertAccNick)+1
		1586	1819 0b36 820F add r24,r18
		1587	1820 0b38 931F adc r25,r19
		1588	1821 0b3a 9093 0000 sts (NaviAccNick)+1,r25
		1589	1822 0b3e 8093 0000 sts NaviAccNick,r24
		1590	1823 0b42 8091 0000 lds r24,NaviAccRoll
		1591	1824 0b46 9091 0000 lds r25,(NaviAccRoll)+1
		1592	1825 0b4a 2091 0000 lds r18,AdWertAccRoll
		1593	1826 0b4e 3091 0000 lds r19,(AdWertAccRoll)+1
		1594	1827 0b52 820F add r24,r18
		1595	1828 0b54 931F adc r25,r19
		1596	1829 0b56 9093 0000 sts (NaviAccRoll)+1,r25
		1597	1830 0b5a 8093 0000 sts NaviAccRoll,r24
		1598	1831 0b5e 8091 0000 lds r24,NaviCntAcc
		1599	1832 0b62 9091 0000 lds r25,(NaviCntAcc)+1
		1600	1833 0b66 0196 adiw r24,1
		1601	1834 0b68 9093 0000 sts (NaviCntAcc)+1,r25
		1602	1835 0b6c 8093 0000 sts NaviCntAcc,r24
		1603	1836 0b70 8091 0000 lds r24,Aktuell_az
		1604	1837 0b74 9091 0000 lds r25,(Aktuell_az)+1
		1605	1838 0b78 2091 0000 lds r18,NeutralAccZ
		1606	1839 0b7c 3091 0000 lds r19,(NeutralAccZ)+1
		1607	1840 0b80 821B sub r24,r18
		1608	1841 0b82 930B sbc r25,r19
		1609	1842 0b84 9C01 movw r18,r24
		1610	1843 0b86 4427 clr r20
		1611	1844 0b88 37FD sbrc r19,7
		1612	1845 0b8a 4095 com r20
		1613	1846 0b8c 542F mov r21,r20
		1614	1847 0b8e 8091 0000 lds r24,IntegralAccZ
		1615	1848 0b92 9091 0000 lds r25,(IntegralAccZ)+1
		1616	1849 0b96 A091 0000 lds r26,(IntegralAccZ)+2
		1617	1850 0b9a B091 0000 lds r27,(IntegralAccZ)+3
		1618	1851 0b9e 820F add r24,r18
		1619	1852 0ba0 931F adc r25,r19
		1620	1853 0ba2 A41F adc r26,r20
		1621	1854 0ba4 B51F adc r27,r21
		1622	1855 0ba6 8093 0000 sts IntegralAccZ,r24
		1623	1856 0baa 9093 0000 sts (IntegralAccZ)+1,r25
		1624	1857 0bae A093 0000 sts (IntegralAccZ)+2,r26
		1625	1858 0bb2 B093 0000 sts (IntegralAccZ)+3,r27
		1626	1859 0bb6 8FEC ldi r24,lo8(-49)
		1627	1860 0bb8 8093 7A00 sts 122,r24
		1628	1861 0bbc 1092 0000 sts AdReady,__zero_reg__
		1629	1862 0bc0 2091 0000 lds r18,Mess_IntegralRoll
		1630	1863 0bc4 3091 0000 lds r19,(Mess_IntegralRoll)+1
		1631	1864 0bc8 4091 0000 lds r20,(Mess_IntegralRoll)+2
		1632	1865 0bcc 5091 0000 lds r21,(Mess_IntegralRoll)+3
		1633	1866 0bd0 2987 std Y+9,r18
		1634	1867 0bd2 3A87 std Y+10,r19
		1635	1868 0bd4 4B87 std Y+11,r20
		1636	1869 0bd6 5C87 std Y+12,r21
		1637	1870 0bd8 2954 subi r18,lo8(93001)
		1638	1871 0bda 3B46 sbci r19,hi8(93001)
		1639	1872 0bdc 4140 sbci r20,hlo8(93001)
		1640	1873 0bde 5040 sbci r21,hhi8(93001)
		1641	1874 0be0 04F0 brlt .L87
		1642	1875 0be2 28E4 ldi r18,lo8(93000)
		1643	1876 0be4 3BE6 ldi r19,hi8(93000)
		1644	1877 0be6 41E0 ldi r20,hlo8(93000)
		1645	1878 0be8 50E0 ldi r21,hhi8(93000)
		1646	1879 0bea 00C0 rjmp .L167
		1647	1880 .L87:
		1648	1881 0bec 8985 ldd r24,Y+9
		1649	1882 0bee 9A85 ldd r25,Y+10
		1650	1883 0bf0 AB85 ldd r26,Y+11
		1651	1884 0bf2 BC85 ldd r27,Y+12
		1652	1885 0bf4 885B subi r24,lo8(-93000)
		1653	1886 0bf6 9449 sbci r25,hi8(-93000)
		1654	1887 0bf8 AE4F sbci r26,hlo8(-93000)
		1655	1888 0bfa BF4F sbci r27,hhi8(-93000)
		1656	1889 0bfc 04F4 brge .L89
		1657	1890 0bfe 28EB ldi r18,lo8(-93000)
		1658	1891 0c00 34E9 ldi r19,hi8(-93000)
		1659	1892 0c02 4EEF ldi r20,hlo8(-93000)
		1660	1893 0c04 5FEF ldi r21,hhi8(-93000)
		1661	1894 .L167:
		1662	1895 0c06 2D83 std Y+5,r18
		1663	1896 0c08 3E83 std Y+6,r19
		1664	1897 0c0a 4F83 std Y+7,r20
		1665	1898 0c0c 5887 std Y+8,r21
		1666	1899 0c0e 00C0 rjmp .L88
		1667	1900 .L89:
		1668	1901 0c10 8985 ldd r24,Y+9
		1669	1902 0c12 9A85 ldd r25,Y+10
		1670	1903 0c14 AB85 ldd r26,Y+11
		1671	1904 0c16 BC85 ldd r27,Y+12
		1672	1905 0c18 8D83 std Y+5,r24
		1673	1906 0c1a 9E83 std Y+6,r25
		1674	1907 0c1c AF83 std Y+7,r26
		1675	1908 0c1e B887 std Y+8,r27
		1676	1909 .L88:
		1677	1910 0c20 2091 0000 lds r18,Mess_IntegralNick
		1678	1911 0c24 3091 0000 lds r19,(Mess_IntegralNick)+1
		1679	1912 0c28 4091 0000 lds r20,(Mess_IntegralNick)+2
		1680	1913 0c2c 5091 0000 lds r21,(Mess_IntegralNick)+3
		1681	1914 0c30 2D87 std Y+13,r18
		1682	1915 0c32 3E87 std Y+14,r19
		1683	1916 0c34 4F87 std Y+15,r20
		1684	1917 0c36 588B std Y+16,r21
		1685	1918 0c38 2954 subi r18,lo8(93001)
		1686	1919 0c3a 3B46 sbci r19,hi8(93001)
		1687	1920 0c3c 4140 sbci r20,hlo8(93001)
		1688	1921 0c3e 5040 sbci r21,hhi8(93001)
		1689	1922 0c40 04F0 brlt .L91
		1690	1923 0c42 28E4 ldi r18,lo8(93000)
		1691	1924 0c44 3BE6 ldi r19,hi8(93000)
		1692	1925 0c46 41E0 ldi r20,hlo8(93000)
		1693	1926 0c48 50E0 ldi r21,hhi8(93000)
		1694	1927 0c4a 00C0 rjmp .L168
		1695	1928 .L91:
		1696	1929 0c4c 8D85 ldd r24,Y+13
		1697	1930 0c4e 9E85 ldd r25,Y+14
		1698	1931 0c50 AF85 ldd r26,Y+15
		1699	1932 0c52 B889 ldd r27,Y+16
		1700	1933 0c54 885B subi r24,lo8(-93000)
		1701	1934 0c56 9449 sbci r25,hi8(-93000)
		1702	1935 0c58 AE4F sbci r26,hlo8(-93000)
		1703	1936 0c5a BF4F sbci r27,hhi8(-93000)
		1704	1937 0c5c 04F4 brge .L93
		1705	1938 0c5e 28EB ldi r18,lo8(-93000)
		1706	1939 0c60 34E9 ldi r19,hi8(-93000)
		1707	1940 0c62 4EEF ldi r20,hlo8(-93000)
		1708	1941 0c64 5FEF ldi r21,hhi8(-93000)
		1709	1942 .L168:
		1710	1943 0c66 2983 std Y+1,r18
		1711	1944 0c68 3A83 std Y+2,r19
		1712	1945 0c6a 4B83 std Y+3,r20
		1713	1946 0c6c 5C83 std Y+4,r21
		1714	1947 0c6e 00C0 rjmp .L92
		1715	1948 .L93:
		1716	1949 0c70 8D85 ldd r24,Y+13
		1717	1950 0c72 9E85 ldd r25,Y+14
		1718	1951 0c74 AF85 ldd r26,Y+15
		1719	1952 0c76 B889 ldd r27,Y+16
		1720	1953 0c78 8983 std Y+1,r24
		1721	1954 0c7a 9A83 std Y+2,r25
		1722	1955 0c7c AB83 std Y+3,r26
		1723	1956 0c7e BC83 std Y+4,r27
		1724	1957 .L92:
		1725	1958 0c80 A091 0000 lds r26,MesswertGier
		1726	1959 0c84 B091 0000 lds r27,(MesswertGier)+1
		1727	1960 0c88 BB8B std Y+19,r27
		1728	1961 0c8a AA8B std Y+18,r26
		1729	1962 0c8c FD01 movw r30,r26
		1730	1963 0c8e CF01 movw r24,r30
		1731	1964 0c90 AA27 clr r26
		1732	1965 0c92 97FD sbrc r25,7
		1733	1966 0c94 A095 com r26
		1734	1967 0c96 BA2F mov r27,r26
		1735	1968 0c98 A090 0000 lds r10,Mess_Integral_Gier
		1736	1969 0c9c B090 0000 lds r11,(Mess_Integral_Gier)+1
		1737	1970 0ca0 C090 0000 lds r12,(Mess_Integral_Gier)+2
		1738	1971 0ca4 D090 0000 lds r13,(Mess_Integral_Gier)+3
		1739	1972 0ca8 A80E add r10,r24
		1740	1973 0caa B91E adc r11,r25
		1741	1974 0cac CA1E adc r12,r26
		1742	1975 0cae DB1E adc r13,r27
		1743	1976 0cb0 A092 0000 sts Mess_Integral_Gier,r10
		1744	1977 0cb4 B092 0000 sts (Mess_Integral_Gier)+1,r11
		1745	1978 0cb8 C092 0000 sts (Mess_Integral_Gier)+2,r12
		1746	1979 0cbc D092 0000 sts (Mess_Integral_Gier)+3,r13
		1747	1980 0cc0 E090 0000 lds r14,ErsatzKompass
		1748	1981 0cc4 F090 0000 lds r15,(ErsatzKompass)+1
		1749	1982 0cc8 0091 0000 lds r16,(ErsatzKompass)+2
		1750	1983 0ccc 1091 0000 lds r17,(ErsatzKompass)+3
		1751	1984 0cd0 E80E add r14,r24
		1752	1985 0cd2 F91E adc r15,r25
		1753	1986 0cd4 0A1F adc r16,r26
		1754	1987 0cd6 1B1F adc r17,r27
		1755	1988 0cd8 E092 0000 sts ErsatzKompass,r14
		1756	1989 0cdc F092 0000 sts (ErsatzKompass)+1,r15
		1757	1990 0ce0 0093 0000 sts (ErsatzKompass)+2,r16
		1758	1991 0ce4 1093 0000 sts (ErsatzKompass)+3,r17
		1759	1992 0ce8 F091 0000 lds r31,Looping_Nick
		1760	1993 0cec F98B std Y+17,r31
		1761	1994 0cee FF23 tst r31
		1762	1995 0cf0 01F0 breq .+2
		1763	1996 0cf2 00C0 rjmp .L95
		1764	1997 0cf4 8091 0000 lds r24,Looping_Roll
		1765	1998 0cf8 8823 tst r24
		1766	1999 0cfa 01F0 breq .+2
		1767	2000 0cfc 00C0 rjmp .L95
		1768	2001 0cfe 8091 0000 lds r24,Parameter_GlobalConfig
		1769	2002 0d02 86FF sbrs r24,6
		1770	2003 0d04 00C0 rjmp .L95
		1771	2004 0d06 8091 0000 lds r24,MesswertRoll
		1772	2005 0d0a 9091 0000 lds r25,(MesswertRoll)+1
		1773	2006 0d0e AA27 clr r26
		1774	2007 0d10 97FD sbrc r25,7
		1775	2008 0d12 A095 com r26
		1776	2009 0d14 BA2F mov r27,r26
		1777	2010 0d16 BC01 movw r22,r24
		1778	2011 0d18 CD01 movw r24,r26
		1779	2012 0d1a 2981 ldd r18,Y+1
		1780	2013 0d1c 3A81 ldd r19,Y+2
		1781	2014 0d1e 4B81 ldd r20,Y+3
		1782	2015 0d20 5C81 ldd r21,Y+4
		1783	2016 0d22 0E94 0000 call __mulsi3
		1784	2017 0d26 9B01 movw r18,r22
		1785	2018 0d28 AC01 movw r20,r24
		1786	2019 0d2a 97FF sbrs r25,7
		1787	2020 0d2c 00C0 rjmp .L96
		1788	2021 0d2e 2150 subi r18,lo8(-(2047))
		1789	2022 0d30 384F sbci r19,hi8(-(2047))
		1790	2023 0d32 4F4F sbci r20,hlo8(-(2047))
		1791	2024 0d34 5F4F sbci r21,hhi8(-(2047))
		1792	2025 .L96:
		1793	2026 0d36 BBE0 ldi r27,11
		1794	2027 0d38 5595 1: asr r21
		1795	2028 0d3a 4795 ror r20
		1796	2029 0d3c 3795 ror r19
		1797	2030 0d3e 2795 ror r18
		1798	2031 0d40 BA95 dec r27
		1799	2032 0d42 01F4 brne 1b
		1800	2033 0d44 8091 0000 lds r24,Parameter_AchsKopplung2
		1801	2034 0d48 682E mov r6,r24
		1802	2035 0d4a 7724 clr r7
		1803	2036 0d4c 8824 clr r8
		1804	2037 0d4e 9924 clr r9
		1805	2038 0d50 CA01 movw r24,r20
		1806	2039 0d52 B901 movw r22,r18
		1807	2040 0d54 A401 movw r20,r8
		1808	2041 0d56 9301 movw r18,r6
		1809	2042 0d58 0E94 0000 call __mulsi3
		1810	2043 0d5c DC01 movw r26,r24
		1811	2044 0d5e CB01 movw r24,r22
		1812	2045 0d60 8093 0000 sts tmpl3.29,r24
		1813	2046 0d64 9093 0000 sts (tmpl3.29)+1,r25
		1814	2047 0d68 A093 0000 sts (tmpl3.29)+2,r26
		1815	2048 0d6c B093 0000 sts (tmpl3.29)+3,r27
		1816	2049 0d70 B7FF sbrs r27,7
		1817	2050 0d72 00C0 rjmp .L97
		1818	2051 0d74 8150 subi r24,lo8(-(4095))
		1819	2052 0d76 904F sbci r25,hi8(-(4095))
		1820	2053 0d78 AF4F sbci r26,hlo8(-(4095))
		1821	2054 0d7a BF4F sbci r27,hhi8(-(4095))
		1822	2055 .L97:
		1823	2056 0d7c 1C01 movw r2,r24
		1824	2057 0d7e 2D01 movw r4,r26
		1825	2058 0d80 ACE0 ldi r26,12
		1826	2059 0d82 5594 1: asr r5
		1827	2060 0d84 4794 ror r4
		1828	2061 0d86 3794 ror r3
		1829	2062 0d88 2794 ror r2
		1830	2063 0d8a AA95 dec r26
		1831	2064 0d8c 01F4 brne 1b
		1832	2065 0d8e 2092 0000 sts tmpl3.29,r2
		1833	2066 0d92 3092 0000 sts (tmpl3.29)+1,r3
		1834	2067 0d96 4092 0000 sts (tmpl3.29)+2,r4
		1835	2068 0d9a 5092 0000 sts (tmpl3.29)+3,r5
		1836	2069 0d9e 8091 0000 lds r24,MesswertNick
		1837	2070 0da2 9091 0000 lds r25,(MesswertNick)+1
		1838	2071 0da6 AA27 clr r26
		1839	2072 0da8 97FD sbrc r25,7
		1840	2073 0daa A095 com r26
		1841	2074 0dac BA2F mov r27,r26
		1842	2075 0dae BC01 movw r22,r24
		1843	2076 0db0 CD01 movw r24,r26
		1844	2077 0db2 2D81 ldd r18,Y+5
		1845	2078 0db4 3E81 ldd r19,Y+6
		1846	2079 0db6 4F81 ldd r20,Y+7
		1847	2080 0db8 5885 ldd r21,Y+8
		1848	2081 0dba 0E94 0000 call __mulsi3
		1849	2082 0dbe 97FF sbrs r25,7
		1850	2083 0dc0 00C0 rjmp .L98
		1851	2084 0dc2 6150 subi r22,lo8(-(2047))
		1852	2085 0dc4 784F sbci r23,hi8(-(2047))
		1853	2086 0dc6 8F4F sbci r24,hlo8(-(2047))
		1854	2087 0dc8 9F4F sbci r25,hhi8(-(2047))
		1855	2088 .L98:
		1856	2089 0dca FBE0 ldi r31,11
		1857	2090 0dcc 9595 1: asr r25
		1858	2091 0dce 8795 ror r24
		1859	2092 0dd0 7795 ror r23
		1860	2093 0dd2 6795 ror r22
		1861	2094 0dd4 FA95 dec r31
		1862	2095 0dd6 01F4 brne 1b
		1863	2096 0dd8 A401 movw r20,r8
		1864	2097 0dda 9301 movw r18,r6
		1865	2098 0ddc 0E94 0000 call __mulsi3
		1866	2099 0de0 DC01 movw r26,r24
		1867	2100 0de2 CB01 movw r24,r22
		1868	2101 0de4 8093 0000 sts tmpl4.30,r24
		1869	2102 0de8 9093 0000 sts (tmpl4.30)+1,r25
		1870	2103 0dec A093 0000 sts (tmpl4.30)+2,r26
		1871	2104 0df0 B093 0000 sts (tmpl4.30)+3,r27
		1872	2105 0df4 B7FF sbrs r27,7
		1873	2106 0df6 00C0 rjmp .L99
		1874	2107 0df8 8150 subi r24,lo8(-(4095))
		1875	2108 0dfa 904F sbci r25,hi8(-(4095))
		1876	2109 0dfc AF4F sbci r26,hlo8(-(4095))
		1877	2110 0dfe BF4F sbci r27,hhi8(-(4095))
		1878	2111 .L99:
		1879	2112 0e00 9C01 movw r18,r24
		1880	2113 0e02 AD01 movw r20,r26
		1881	2114 0e04 ECE0 ldi r30,12
		1882	2115 0e06 5595 1: asr r21
		1883	2116 0e08 4795 ror r20
		1884	2117 0e0a 3795 ror r19
		1885	2118 0e0c 2795 ror r18
		1886	2119 0e0e EA95 dec r30
		1887	2120 0e10 01F4 brne 1b
		1888	2121 0e12 2093 0000 sts tmpl4.30,r18
		1889	2122 0e16 3093 0000 sts (tmpl4.30)+1,r19
		1890	2123 0e1a 4093 0000 sts (tmpl4.30)+2,r20
		1891	2124 0e1e 5093 0000 sts (tmpl4.30)+3,r21
		1892	2125 0e22 8091 0000 lds r24,tmpl3.29
		1893	2126 0e26 9091 0000 lds r25,(tmpl3.29)+1
		1894	2127 0e2a 9093 0000 sts (KopplungsteilNickRoll)+1,r25
		1895	2128 0e2e 8093 0000 sts KopplungsteilNickRoll,r24
		1896	2129 0e32 8091 0000 lds r24,tmpl4.30
		1897	2130 0e36 9091 0000 lds r25,(tmpl4.30)+1
		1898	2131 0e3a 9093 0000 sts (KopplungsteilRollNick)+1,r25
		1899	2132 0e3e 8093 0000 sts KopplungsteilRollNick,r24
		1900	2133 0e42 2219 sub r18,r2
		1901	2134 0e44 3309 sbc r19,r3
		1902	2135 0e46 4409 sbc r20,r4
		1903	2136 0e48 5509 sbc r21,r5
		1904	2137 0e4a 2093 0000 sts tmpl4.30,r18
		1905	2138 0e4e 3093 0000 sts (tmpl4.30)+1,r19
		1906	2139 0e52 4093 0000 sts (tmpl4.30)+2,r20
		1907	2140 0e56 5093 0000 sts (tmpl4.30)+3,r21
		1908	2141 0e5a E20E add r14,r18
		1909	2142 0e5c F31E adc r15,r19
		1910	2143 0e5e 041F adc r16,r20
		1911	2144 0e60 151F adc r17,r21
		1912	2145 0e62 E092 0000 sts ErsatzKompass,r14
		1913	2146 0e66 F092 0000 sts (ErsatzKompass)+1,r15
		1914	2147 0e6a 0093 0000 sts (ErsatzKompass)+2,r16
		1915	2148 0e6e 1093 0000 sts (ErsatzKompass)+3,r17
		1916	2149 0e72 8091 0000 lds r24,Parameter_CouplingYawCorrection
		1917	2150 0e76 8823 tst r24
		1918	2151 0e78 01F4 brne .L100
		1919	2152 0e7a 57FF sbrs r21,7
		1920	2153 0e7c 00C0 rjmp .L101
		1921	2154 0e7e 2F5F subi r18,lo8(-(1))
		1922	2155 0e80 3F4F sbci r19,hi8(-(1))
		1923	2156 0e82 4F4F sbci r20,hlo8(-(1))
		1924	2157 0e84 5F4F sbci r21,hhi8(-(1))
		1925	2158 .L101:
		1926	2159 0e86 5595 asr r21
		1927	2160 0e88 4795 ror r20
		1928	2161 0e8a 3795 ror r19
		1929	2162 0e8c 2795 ror r18
		1930	2163 0e8e A21A sub r10,r18
		1931	2164 0e90 B30A sbc r11,r19
		1932	2165 0e92 C40A sbc r12,r20
		1933	2166 0e94 D50A sbc r13,r21
		1934	2167 0e96 A092 0000 sts Mess_Integral_Gier,r10
		1935	2168 0e9a B092 0000 sts (Mess_Integral_Gier)+1,r11
		1936	2169 0e9e C092 0000 sts (Mess_Integral_Gier)+2,r12
		1937	2170 0ea2 D092 0000 sts (Mess_Integral_Gier)+3,r13
		1938	2171 .L100:
		1939	2172 0ea6 2A89 ldd r18,Y+18
		1940	2173 0ea8 3B89 ldd r19,Y+19
		1941	2174 0eaa 7901 movw r14,r18
		1942	2175 0eac 0027 clr r16
		1943	2176 0eae F7FC sbrc r15,7
		1944	2177 0eb0 0095 com r16
		1945	2178 0eb2 102F mov r17,r16
		1946	2179 0eb4 8091 0000 lds r24,tmpl4.30
		1947	2180 0eb8 9091 0000 lds r25,(tmpl4.30)+1
		1948	2181 0ebc A091 0000 lds r26,(tmpl4.30)+2
		1949	2182 0ec0 B091 0000 lds r27,(tmpl4.30)+3
		1950	2183 0ec4 E80E add r14,r24
		1951	2184 0ec6 F91E adc r15,r25
		1952	2185 0ec8 0A1F adc r16,r26
		1953	2186 0eca 1B1F adc r17,r27
		1954	2187 0ecc C801 movw r24,r16
		1955	2188 0ece B701 movw r22,r14
		1956	2189 0ed0 2981 ldd r18,Y+1
		1957	2190 0ed2 3A81 ldd r19,Y+2
		1958	2191 0ed4 4B81 ldd r20,Y+3
		1959	2192 0ed6 5C81 ldd r21,Y+4
		1960	2193 0ed8 0E94 0000 call __mulsi3
		1961	2194 0edc 9B01 movw r18,r22
		1962	2195 0ede AC01 movw r20,r24
		1963	2196 0ee0 97FF sbrs r25,7
		1964	2197 0ee2 00C0 rjmp .L102
		1965	2198 0ee4 2150 subi r18,lo8(-(2047))
		1966	2199 0ee6 384F sbci r19,hi8(-(2047))
		1967	2200 0ee8 4F4F sbci r20,hlo8(-(2047))
		1968	2201 0eea 5F4F sbci r21,hhi8(-(2047))
		1969	2202 .L102:
		1970	2203 0eec 6BE0 ldi r22,11
		1971	2204 0eee 5595 1: asr r21
		1972	2205 0ef0 4795 ror r20
		1973	2206 0ef2 3795 ror r19
		1974	2207 0ef4 2795 ror r18
		1975	2208 0ef6 6A95 dec r22
		1976	2209 0ef8 01F4 brne 1b
		1977	2210 0efa 8091 0000 lds r24,Parameter_AchsKopplung1
		1978	2211 0efe A82E mov r10,r24
		1979	2212 0f00 BB24 clr r11
		1980	2213 0f02 CC24 clr r12
		1981	2214 0f04 DD24 clr r13
		1982	2215 0f06 CA01 movw r24,r20
		1983	2216 0f08 B901 movw r22,r18
		1984	2217 0f0a A601 movw r20,r12
		1985	2218 0f0c 9501 movw r18,r10
		1986	2219 0f0e 0E94 0000 call __mulsi3
		1987	2220 0f12 DC01 movw r26,r24
		1988	2221 0f14 CB01 movw r24,r22
		1989	2222 0f16 8093 0000 sts tmpl.27,r24
		1990	2223 0f1a 9093 0000 sts (tmpl.27)+1,r25
		1991	2224 0f1e A093 0000 sts (tmpl.27)+2,r26
		1992	2225 0f22 B093 0000 sts (tmpl.27)+3,r27
		1993	2226 0f26 B7FF sbrs r27,7
		1994	2227 0f28 00C0 rjmp .L103
		1995	2228 0f2a 8150 subi r24,lo8(-(4095))
		1996	2229 0f2c 904F sbci r25,hi8(-(4095))
		1997	2230 0f2e AF4F sbci r26,hlo8(-(4095))
		1998	2231 0f30 BF4F sbci r27,hhi8(-(4095))
		1999	2232 .L103:
		2000	2233 0f32 3C01 movw r6,r24
		2001	2234 0f34 4D01 movw r8,r26
		2002	2235 0f36 3CE0 ldi r19,12
		2003	2236 0f38 9594 1: asr r9
		2004	2237 0f3a 8794 ror r8
		2005	2238 0f3c 7794 ror r7
		2006	2239 0f3e 6794 ror r6
		2007	2240 0f40 3A95 dec r19
		2008	2241 0f42 01F4 brne 1b
		2009	2242 0f44 6092 0000 sts tmpl.27,r6
		2010	2243 0f48 7092 0000 sts (tmpl.27)+1,r7
		2011	2244 0f4c 8092 0000 sts (tmpl.27)+2,r8
		2012	2245 0f50 9092 0000 sts (tmpl.27)+3,r9
		2013	2246 0f54 C801 movw r24,r16
		2014	2247 0f56 B701 movw r22,r14
		2015	2248 0f58 2D81 ldd r18,Y+5
		2016	2249 0f5a 3E81 ldd r19,Y+6
		2017	2250 0f5c 4F81 ldd r20,Y+7
		2018	2251 0f5e 5885 ldd r21,Y+8
		2019	2252 0f60 0E94 0000 call __mulsi3
		2020	2253 0f64 97FF sbrs r25,7
		2021	2254 0f66 00C0 rjmp .L104
		2022	2255 0f68 6150 subi r22,lo8(-(2047))
		2023	2256 0f6a 784F sbci r23,hi8(-(2047))
		2024	2257 0f6c 8F4F sbci r24,hlo8(-(2047))
		2025	2258 0f6e 9F4F sbci r25,hhi8(-(2047))
		2026	2259 .L104:
		2027	2260 0f70 2BE0 ldi r18,11
		2028	2261 0f72 9595 1: asr r25
		2029	2262 0f74 8795 ror r24
		2030	2263 0f76 7795 ror r23
		2031	2264 0f78 6795 ror r22
		2032	2265 0f7a 2A95 dec r18
		2033	2266 0f7c 01F4 brne 1b
		2034	2267 0f7e A601 movw r20,r12
		2035	2268 0f80 9501 movw r18,r10
		2036	2269 0f82 0E94 0000 call __mulsi3
		2037	2270 0f86 DC01 movw r26,r24
		2038	2271 0f88 CB01 movw r24,r22
		2039	2272 0f8a 8093 0000 sts tmpl2.28,r24
		2040	2273 0f8e 9093 0000 sts (tmpl2.28)+1,r25
		2041	2274 0f92 A093 0000 sts (tmpl2.28)+2,r26
		2042	2275 0f96 B093 0000 sts (tmpl2.28)+3,r27
		2043	2276 0f9a B7FF sbrs r27,7
		2044	2277 0f9c 00C0 rjmp .L105
		2045	2278 0f9e 8150 subi r24,lo8(-(4095))
		2046	2279 0fa0 904F sbci r25,hi8(-(4095))
		2047	2280 0fa2 AF4F sbci r26,hlo8(-(4095))
		2048	2281 0fa4 BF4F sbci r27,hhi8(-(4095))
		2049	2282 .L105:
		2050	2283 0fa6 AC01 movw r20,r24
		2051	2284 0fa8 BD01 movw r22,r26
		2052	2285 0faa 8CE0 ldi r24,12
		2053	2286 0fac 7595 1: asr r23
		2054	2287 0fae 6795 ror r22
		2055	2288 0fb0 5795 ror r21
		2056	2289 0fb2 4795 ror r20
		2057	2290 0fb4 8A95 dec r24
		2058	2291 0fb6 01F4 brne 1b
		2059	2292 0fb8 4093 0000 sts tmpl2.28,r20
		2060	2293 0fbc 5093 0000 sts (tmpl2.28)+1,r21
		2061	2294 0fc0 6093 0000 sts (tmpl2.28)+2,r22
		2062	2295 0fc4 7093 0000 sts (tmpl2.28)+3,r23
		2063	2296 0fc8 2A89 ldd r18,Y+18
		2064	2297 0fca 3B89 ldd r19,Y+19
		2065	2298 0fcc 37FF sbrs r19,7
		2066	2299 0fce 00C0 rjmp .L107
		2067	2300 0fd0 3095 com r19
		2068	2301 0fd2 2195 neg r18
		2069	2302 0fd4 3F4F sbci r19,lo8(-1)
		2070	2303 .L107:
		2071	2304 0fd6 2134 cpi r18,65
		2072	2305 0fd8 3105 cpc r19,__zero_reg__
		2073	2306 0fda 04F0 brlt .L112
		2074	2307 0fdc D401 movw r26,r8
		2075	2308 0fde C301 movw r24,r6
		2076	2309 0fe0 97FE sbrs r9,7
		2077	2310 0fe2 00C0 rjmp .L110
		2078	2311 0fe4 B095 com r27
		2079	2312 0fe6 A095 com r26
		2080	2313 0fe8 9095 com r25
		2081	2314 0fea 8195 neg r24
		2082	2315 0fec 9F4F sbci r25,lo8(-1)
		2083	2316 0fee AF4F sbci r26,lo8(-1)
		2084	2317 0ff0 BF4F sbci r27,lo8(-1)
		2085	2318 .L110:
		2086	2319 0ff2 8138 cpi r24,lo8(129)
		2087	2320 0ff4 9105 cpc r25,__zero_reg__
		2088	2321 0ff6 A105 cpc r26,__zero_reg__
		2089	2322 0ff8 B105 cpc r27,__zero_reg__
		2090	2323 0ffa 04F4 brge .L109
		2091	2324 0ffc DB01 movw r26,r22
		2092	2325 0ffe CA01 movw r24,r20
		2093	2326 1000 77FF sbrs r23,7
		2094	2327 1002 00C0 rjmp .L111
		2095	2328 1004 B095 com r27
		2096	2329 1006 A095 com r26
		2097	2330 1008 9095 com r25
		2098	2331 100a 8195 neg r24
		2099	2332 100c 9F4F sbci r25,lo8(-1)
		2100	2333 100e AF4F sbci r26,lo8(-1)
		2101	2334 1010 BF4F sbci r27,lo8(-1)
		2102	2335 .L111:
		2103	2336 1012 8138 cpi r24,lo8(129)
		2104	2337 1014 9105 cpc r25,__zero_reg__
		2105	2338 1016 A105 cpc r26,__zero_reg__
		2106	2339 1018 B105 cpc r27,__zero_reg__
		2107	2340 101a 04F0 brlt .L112
		2108	2341 .L109:
		2109	2342 101c 81E0 ldi r24,lo8(1)
		2110	2343 101e 8093 0000 sts TrichterFlug,r24
		2111	2344 1022 00C0 rjmp .L112
		2112	2345 .L95:
		2113	2346 1024 1092 0000 sts (KopplungsteilRollNick)+1,__zero_reg__
		2114	2347 1028 1092 0000 sts KopplungsteilRollNick,__zero_reg__
		2115	2348 102c 1092 0000 sts (KopplungsteilNickRoll)+1,__zero_reg__
		2116	2349 1030 1092 0000 sts KopplungsteilNickRoll,__zero_reg__
		2117	2350 1034 1092 0000 sts tmpl2.28,__zero_reg__
		2118	2351 1038 1092 0000 sts (tmpl2.28)+1,__zero_reg__
		2119	2352 103c 1092 0000 sts (tmpl2.28)+2,__zero_reg__
		2120	2353 1040 1092 0000 sts (tmpl2.28)+3,__zero_reg__
		2121	2354 1044 1092 0000 sts tmpl.27,__zero_reg__
		2122	2355 1048 1092 0000 sts (tmpl.27)+1,__zero_reg__
		2123	2356 104c 1092 0000 sts (tmpl.27)+2,__zero_reg__
		2124	2357 1050 1092 0000 sts (tmpl.27)+3,__zero_reg__
		2125	2358 .L112:
		2126	2359 1054 8091 0000 lds r24,tmpl2.28
		2127	2360 1058 9091 0000 lds r25,(tmpl2.28)+1
		2128	2361 105c A091 0000 lds r26,(tmpl2.28)+2
		2129	2362 1060 B091 0000 lds r27,(tmpl2.28)+3
		2130	2363 1064 BC01 movw r22,r24
		2131	2364 1066 CD01 movw r24,r26
		2132	2365 1068 24E6 ldi r18,lo8(100)
		2133	2366 106a 30E0 ldi r19,hi8(100)
		2134	2367 106c 40E0 ldi r20,hlo8(100)
		2135	2368 106e 50E0 ldi r21,hhi8(100)
		2136	2369 1070 0E94 0000 call __divmodsi4
		2137	2370 1074 E090 0000 lds r14,tmpl.27
		2138	2371 1078 F090 0000 lds r15,(tmpl.27)+1
		2139	2372 107c E21A sub r14,r18
		2140	2373 107e F30A sbc r15,r19
		2141	2374 1080 F092 0000 sts (TrimRoll)+1,r15
		2142	2375 1084 E092 0000 sts TrimRoll,r14
		2143	2376 1088 8091 0000 lds r24,tmpl.27
		2144	2377 108c 9091 0000 lds r25,(tmpl.27)+1
		2145	2378 1090 A091 0000 lds r26,(tmpl.27)+2
		2146	2379 1094 B091 0000 lds r27,(tmpl.27)+3
		2147	2380 1098 BC01 movw r22,r24
		2148	2381 109a CD01 movw r24,r26
		2149	2382 109c 24E6 ldi r18,lo8(100)
		2150	2383 109e 30E0 ldi r19,hi8(100)
		2151	2384 10a0 40E0 ldi r20,hlo8(100)
		2152	2385 10a2 50E0 ldi r21,hhi8(100)
		2153	2386 10a4 0E94 0000 call __divmodsi4
		2154	2387 10a8 DA01 movw r26,r20
		2155	2388 10aa C901 movw r24,r18
		2156	2389 10ac 2091 0000 lds r18,tmpl2.28
		2157	2390 10b0 3091 0000 lds r19,(tmpl2.28)+1
		2158	2391 10b4 8C01 movw r16,r24
		2159	2392 10b6 021B sub r16,r18
		2160	2393 10b8 130B sbc r17,r19
		2161	2394 10ba 1093 0000 sts (TrimNick)+1,r17
		2162	2395 10be 0093 0000 sts TrimNick,r16
		2163	2396 10c2 8091 0000 lds r24,GIER_GRAD_FAKTOR
		2164	2397 10c6 9091 0000 lds r25,(GIER_GRAD_FAKTOR)+1
		2165	2398 10ca A091 0000 lds r26,(GIER_GRAD_FAKTOR)+2
		2166	2399 10ce B091 0000 lds r27,(GIER_GRAD_FAKTOR)+3
		2167	2400 10d2 BC01 movw r22,r24
		2168	2401 10d4 CD01 movw r24,r26
		2169	2402 10d6 28E6 ldi r18,lo8(360)
		2170	2403 10d8 31E0 ldi r19,hi8(360)
		2171	2404 10da 40E0 ldi r20,hlo8(360)
		2172	2405 10dc 50E0 ldi r21,hhi8(360)
		2173	2406 10de 0E94 0000 call __mulsi3
		2174	2407 10e2 2091 0000 lds r18,ErsatzKompass
		2175	2408 10e6 3091 0000 lds r19,(ErsatzKompass)+1
		2176	2409 10ea 4091 0000 lds r20,(ErsatzKompass)+2
		2177	2410 10ee 5091 0000 lds r21,(ErsatzKompass)+3
		2178	2411 10f2 2617 cp r18,r22
		2179	2412 10f4 3707 cpc r19,r23
		2180	2413 10f6 4807 cpc r20,r24
		2181	2414 10f8 5907 cpc r21,r25
		2182	2415 10fa 04F0 brlt .L113
		2183	2416 10fc 261B sub r18,r22
		2184	2417 10fe 370B sbc r19,r23
		2185	2418 1100 480B sbc r20,r24
		2186	2419 1102 590B sbc r21,r25
		2187	2420 1104 2093 0000 sts ErsatzKompass,r18
		2188	2421 1108 3093 0000 sts (ErsatzKompass)+1,r19
		2189	2422 110c 4093 0000 sts (ErsatzKompass)+2,r20
		2190	2423 1110 5093 0000 sts (ErsatzKompass)+3,r21
		2191	2424 .L113:
		2192	2425 1114 2091 0000 lds r18,ErsatzKompass
		2193	2426 1118 3091 0000 lds r19,(ErsatzKompass)+1
		2194	2427 111c 4091 0000 lds r20,(ErsatzKompass)+2
		2195	2428 1120 5091 0000 lds r21,(ErsatzKompass)+3
		2196	2429 1124 57FF sbrs r21,7
		2197	2430 1126 00C0 rjmp .L114
		2198	2431 1128 260F add r18,r22
		2199	2432 112a 371F adc r19,r23
		2200	2433 112c 481F adc r20,r24
		2201	2434 112e 591F adc r21,r25
		2202	2435 1130 2093 0000 sts ErsatzKompass,r18
		2203	2436 1134 3093 0000 sts (ErsatzKompass)+1,r19
		2204	2437 1138 4093 0000 sts (ErsatzKompass)+2,r20
		2205	2438 113c 5093 0000 sts (ErsatzKompass)+3,r21
		2206	2439 .L114:
		2207	2440 1140 6091 0000 lds r22,MesswertRoll
		2208	2441 1144 7091 0000 lds r23,(MesswertRoll)+1
		2209	2442 1148 6E0D add r22,r14
		2210	2443 114a 7F1D adc r23,r15
		2211	2444 114c 9B01 movw r18,r22
		2212	2445 114e 4427 clr r20
		2213	2446 1150 37FD sbrc r19,7
		2214	2447 1152 4095 com r20
		2215	2448 1154 542F mov r21,r20
		2216	2449 1156 8091 0000 lds r24,Mess_IntegralRoll2
		2217	2450 115a 9091 0000 lds r25,(Mess_IntegralRoll2)+1
		2218	2451 115e A091 0000 lds r26,(Mess_IntegralRoll2)+2
		2219	2452 1162 B091 0000 lds r27,(Mess_IntegralRoll2)+3
		2220	2453 1166 820F add r24,r18
		2221	2454 1168 931F adc r25,r19
		2222	2455 116a A41F adc r26,r20
		2223	2456 116c B51F adc r27,r21
		2224	2457 116e 8093 0000 sts Mess_IntegralRoll2,r24
		2225	2458 1172 9093 0000 sts (Mess_IntegralRoll2)+1,r25
		2226	2459 1176 A093 0000 sts (Mess_IntegralRoll2)+2,r26
		2227	2460 117a B093 0000 sts (Mess_IntegralRoll2)+3,r27
		2228	2461 117e 8091 0000 lds r24,LageKorrekturRoll
		2229	2462 1182 9091 0000 lds r25,(LageKorrekturRoll)+1
		2230	2463 1186 681B sub r22,r24
		2231	2464 1188 790B sbc r23,r25
		2232	2465 118a CB01 movw r24,r22
		2233	2466 118c AA27 clr r26
		2234	2467 118e 97FD sbrc r25,7
		2235	2468 1190 A095 com r26
		2236	2469 1192 BA2F mov r27,r26
		2237	2470 1194 2985 ldd r18,Y+9
		2238	2471 1196 3A85 ldd r19,Y+10
		2239	2472 1198 4B85 ldd r20,Y+11
		2240	2473 119a 5C85 ldd r21,Y+12
		2241	2474 119c 820F add r24,r18
		2242	2475 119e 931F adc r25,r19
		2243	2476 11a0 A41F adc r26,r20
		2244	2477 11a2 B51F adc r27,r21
		2245	2478 11a4 8093 0000 sts Mess_IntegralRoll,r24
		2246	2479 11a8 9093 0000 sts (Mess_IntegralRoll)+1,r25
		2247	2480 11ac A093 0000 sts (Mess_IntegralRoll)+2,r26
		2248	2481 11b0 B093 0000 sts (Mess_IntegralRoll)+3,r27
		2249	2482 11b4 C090 0000 lds r12,Umschlag180Roll
		2250	2483 11b8 D090 0000 lds r13,(Umschlag180Roll)+1
		2251	2484 11bc E090 0000 lds r14,(Umschlag180Roll)+2
		2252	2485 11c0 F090 0000 lds r15,(Umschlag180Roll)+3
		2253	2486 11c4 C816 cp r12,r24
		2254	2487 11c6 D906 cpc r13,r25
		2255	2488 11c8 EA06 cpc r14,r26
		2256	2489 11ca FB06 cpc r15,r27
		2257	2490 11cc 04F4 brge .L115
		2258	2491 11ce 88EA ldi r24,lo8(25000)
		2259	2492 11d0 91E6 ldi r25,hi8(25000)
		2260	2493 11d2 A0E0 ldi r26,hlo8(25000)
		2261	2494 11d4 B0E0 ldi r27,hhi8(25000)
		2262	2495 11d6 8C19 sub r24,r12
		2263	2496 11d8 9D09 sbc r25,r13
		2264	2497 11da AE09 sbc r26,r14
		2265	2498 11dc BF09 sbc r27,r15
		2266	2499 11de 8093 0000 sts Mess_IntegralRoll,r24
		2267	2500 11e2 9093 0000 sts (Mess_IntegralRoll)+1,r25
		2268	2501 11e6 A093 0000 sts (Mess_IntegralRoll)+2,r26
		2269	2502 11ea B093 0000 sts (Mess_IntegralRoll)+3,r27
		2270	2503 11ee 8093 0000 sts Mess_IntegralRoll2,r24
		2271	2504 11f2 9093 0000 sts (Mess_IntegralRoll2)+1,r25
		2272	2505 11f6 A093 0000 sts (Mess_IntegralRoll2)+2,r26
		2273	2506 11fa B093 0000 sts (Mess_IntegralRoll2)+3,r27
		2274	2507 .L115:
		2275	2508 11fe 2227 clr r18
		2276	2509 1200 3327 clr r19
		2277	2510 1202 A901 movw r20,r18
		2278	2511 1204 2C19 sub r18,r12
		2279	2512 1206 3D09 sbc r19,r13
		2280	2513 1208 4E09 sbc r20,r14
		2281	2514 120a 5F09 sbc r21,r15
		2282	2515 120c 8091 0000 lds r24,Mess_IntegralRoll
		2283	2516 1210 9091 0000 lds r25,(Mess_IntegralRoll)+1
		2284	2517 1214 A091 0000 lds r26,(Mess_IntegralRoll)+2
		2285	2518 1218 B091 0000 lds r27,(Mess_IntegralRoll)+3
		2286	2519 121c 8217 cp r24,r18
		2287	2520 121e 9307 cpc r25,r19
		2288	2521 1220 A407 cpc r26,r20
		2289	2522 1222 B507 cpc r27,r21
		2290	2523 1224 04F4 brge .L116
		2291	2524 1226 D701 movw r26,r14
		2292	2525 1228 C601 movw r24,r12
		2293	2526 122a 885A subi r24,lo8(-(-25000))
		2294	2527 122c 9146 sbci r25,hi8(-(-25000))
		2295	2528 122e A040 sbci r26,hlo8(-(-25000))
		2296	2529 1230 B040 sbci r27,hhi8(-(-25000))
		2297	2530 1232 8093 0000 sts Mess_IntegralRoll,r24
		2298	2531 1236 9093 0000 sts (Mess_IntegralRoll)+1,r25
		2299	2532 123a A093 0000 sts (Mess_IntegralRoll)+2,r26
		2300	2533 123e B093 0000 sts (Mess_IntegralRoll)+3,r27
		2301	2534 1242 8093 0000 sts Mess_IntegralRoll2,r24
		2302	2535 1246 9093 0000 sts (Mess_IntegralRoll2)+1,r25
		2303	2536 124a A093 0000 sts (Mess_IntegralRoll2)+2,r26
		2304	2537 124e B093 0000 sts (Mess_IntegralRoll2)+3,r27
		2305	2538 .L116:
		2306	2539 1252 6091 0000 lds r22,MesswertNick
		2307	2540 1256 7091 0000 lds r23,(MesswertNick)+1
		2308	2541 125a 600F add r22,r16
		2309	2542 125c 711F adc r23,r17
		2310	2543 125e 9B01 movw r18,r22
		2311	2544 1260 4427 clr r20
		2312	2545 1262 37FD sbrc r19,7
		2313	2546 1264 4095 com r20
		2314	2547 1266 542F mov r21,r20
		2315	2548 1268 8091 0000 lds r24,Mess_IntegralNick2
		2316	2549 126c 9091 0000 lds r25,(Mess_IntegralNick2)+1
		2317	2550 1270 A091 0000 lds r26,(Mess_IntegralNick2)+2
		2318	2551 1274 B091 0000 lds r27,(Mess_IntegralNick2)+3
		2319	2552 1278 820F add r24,r18
		2320	2553 127a 931F adc r25,r19
		2321	2554 127c A41F adc r26,r20
		2322	2555 127e B51F adc r27,r21
		2323	2556 1280 8093 0000 sts Mess_IntegralNick2,r24
		2324	2557 1284 9093 0000 sts (Mess_IntegralNick2)+1,r25
		2325	2558 1288 A093 0000 sts (Mess_IntegralNick2)+2,r26
		2326	2559 128c B093 0000 sts (Mess_IntegralNick2)+3,r27
		2327	2560 1290 8091 0000 lds r24,LageKorrekturNick
		2328	2561 1294 9091 0000 lds r25,(LageKorrekturNick)+1
		2329	2562 1298 681B sub r22,r24
		2330	2563 129a 790B sbc r23,r25
		2331	2564 129c CB01 movw r24,r22
		2332	2565 129e AA27 clr r26
		2333	2566 12a0 97FD sbrc r25,7
		2334	2567 12a2 A095 com r26
		2335	2568 12a4 BA2F mov r27,r26
		2336	2569 12a6 2D85 ldd r18,Y+13
		2337	2570 12a8 3E85 ldd r19,Y+14
		2338	2571 12aa 4F85 ldd r20,Y+15
		2339	2572 12ac 5889 ldd r21,Y+16
		2340	2573 12ae 820F add r24,r18
		2341	2574 12b0 931F adc r25,r19
		2342	2575 12b2 A41F adc r26,r20
		2343	2576 12b4 B51F adc r27,r21
		2344	2577 12b6 8093 0000 sts Mess_IntegralNick,r24
		2345	2578 12ba 9093 0000 sts (Mess_IntegralNick)+1,r25
		2346	2579 12be A093 0000 sts (Mess_IntegralNick)+2,r26
		2347	2580 12c2 B093 0000 sts (Mess_IntegralNick)+3,r27
		2348	2581 12c6 E090 0000 lds r14,Umschlag180Nick
		2349	2582 12ca F090 0000 lds r15,(Umschlag180Nick)+1
		2350	2583 12ce 0091 0000 lds r16,(Umschlag180Nick)+2
		2351	2584 12d2 1091 0000 lds r17,(Umschlag180Nick)+3
		2352	2585 12d6 E816 cp r14,r24
		2353	2586 12d8 F906 cpc r15,r25
		2354	2587 12da 0A07 cpc r16,r26
		2355	2588 12dc 1B07 cpc r17,r27
		2356	2589 12de 04F4 brge .L117
		2357	2590 12e0 88EA ldi r24,lo8(25000)
		2358	2591 12e2 91E6 ldi r25,hi8(25000)
		2359	2592 12e4 A0E0 ldi r26,hlo8(25000)
		2360	2593 12e6 B0E0 ldi r27,hhi8(25000)
		2361	2594 12e8 8E19 sub r24,r14
		2362	2595 12ea 9F09 sbc r25,r15
		2363	2596 12ec A00B sbc r26,r16
		2364	2597 12ee B10B sbc r27,r17
		2365	2598 12f0 8093 0000 sts Mess_IntegralNick,r24
		2366	2599 12f4 9093 0000 sts (Mess_IntegralNick)+1,r25
		2367	2600 12f8 A093 0000 sts (Mess_IntegralNick)+2,r26
		2368	2601 12fc B093 0000 sts (Mess_IntegralNick)+3,r27
		2369	2602 1300 8093 0000 sts Mess_IntegralNick2,r24
		2370	2603 1304 9093 0000 sts (Mess_IntegralNick2)+1,r25
		2371	2604 1308 A093 0000 sts (Mess_IntegralNick2)+2,r26
		2372	2605 130c B093 0000 sts (Mess_IntegralNick2)+3,r27
		2373	2606 .L117:
		2374	2607 1310 2227 clr r18
		2375	2608 1312 3327 clr r19
		2376	2609 1314 A901 movw r20,r18
		2377	2610 1316 2E19 sub r18,r14
		2378	2611 1318 3F09 sbc r19,r15
		2379	2612 131a 400B sbc r20,r16
		2380	2613 131c 510B sbc r21,r17
		2381	2614 131e 8091 0000 lds r24,Mess_IntegralNick
		2382	2615 1322 9091 0000 lds r25,(Mess_IntegralNick)+1
		2383	2616 1326 A091 0000 lds r26,(Mess_IntegralNick)+2
		2384	2617 132a B091 0000 lds r27,(Mess_IntegralNick)+3
		2385	2618 132e 8217 cp r24,r18
		2386	2619 1330 9307 cpc r25,r19
		2387	2620 1332 A407 cpc r26,r20
		2388	2621 1334 B507 cpc r27,r21
		2389	2622 1336 04F4 brge .L118
		2390	2623 1338 D801 movw r26,r16
		2391	2624 133a C701 movw r24,r14
		2392	2625 133c 885A subi r24,lo8(-(-25000))
		2393	2626 133e 9146 sbci r25,hi8(-(-25000))
		2394	2627 1340 A040 sbci r26,hlo8(-(-25000))
		2395	2628 1342 B040 sbci r27,hhi8(-(-25000))
		2396	2629 1344 8093 0000 sts Mess_IntegralNick,r24
		2397	2630 1348 9093 0000 sts (Mess_IntegralNick)+1,r25
		2398	2631 134c A093 0000 sts (Mess_IntegralNick)+2,r26
		2399	2632 1350 B093 0000 sts (Mess_IntegralNick)+3,r27
		2400	2633 1354 8093 0000 sts Mess_IntegralNick2,r24
		2401	2634 1358 9093 0000 sts (Mess_IntegralNick2)+1,r25
		2402	2635 135c A093 0000 sts (Mess_IntegralNick2)+2,r26
		2403	2636 1360 B093 0000 sts (Mess_IntegralNick2)+3,r27
		2404	2637 .L118:
		2405	2638 1364 8091 0000 lds r24,Mess_Integral_Gier
		2406	2639 1368 9091 0000 lds r25,(Mess_Integral_Gier)+1
		2407	2640 136c A091 0000 lds r26,(Mess_Integral_Gier)+2
		2408	2641 1370 B091 0000 lds r27,(Mess_Integral_Gier)+3
		2409	2642 1374 8093 0000 sts Integral_Gier,r24
		2410	2643 1378 9093 0000 sts (Integral_Gier)+1,r25
		2411	2644 137c A093 0000 sts (Integral_Gier)+2,r26
		2412	2645 1380 B093 0000 sts (Integral_Gier)+3,r27
		2413	2646 1384 8091 0000 lds r24,Mess_IntegralNick
		2414	2647 1388 9091 0000 lds r25,(Mess_IntegralNick)+1
		2415	2648 138c A091 0000 lds r26,(Mess_IntegralNick)+2
		2416	2649 1390 B091 0000 lds r27,(Mess_IntegralNick)+3
		2417	2650 1394 8093 0000 sts IntegralNick,r24
		2418	2651 1398 9093 0000 sts (IntegralNick)+1,r25
		2419	2652 139c A093 0000 sts (IntegralNick)+2,r26
		2420	2653 13a0 B093 0000 sts (IntegralNick)+3,r27
		2421	2654 13a4 8091 0000 lds r24,Mess_IntegralRoll
		2422	2655 13a8 9091 0000 lds r25,(Mess_IntegralRoll)+1
		2423	2656 13ac A091 0000 lds r26,(Mess_IntegralRoll)+2
		2424	2657 13b0 B091 0000 lds r27,(Mess_IntegralRoll)+3
		2425	2658 13b4 8093 0000 sts IntegralRoll,r24
		2426	2659 13b8 9093 0000 sts (IntegralRoll)+1,r25
		2427	2660 13bc A093 0000 sts (IntegralRoll)+2,r26
		2428	2661 13c0 B093 0000 sts (IntegralRoll)+3,r27
		2429	2662 13c4 8091 0000 lds r24,Mess_IntegralNick2
		2430	2663 13c8 9091 0000 lds r25,(Mess_IntegralNick2)+1
		2431	2664 13cc A091 0000 lds r26,(Mess_IntegralNick2)+2
		2432	2665 13d0 B091 0000 lds r27,(Mess_IntegralNick2)+3
		2433	2666 13d4 8093 0000 sts IntegralNick2,r24
		2434	2667 13d8 9093 0000 sts (IntegralNick2)+1,r25
		2435	2668 13dc A093 0000 sts (IntegralNick2)+2,r26
		2436	2669 13e0 B093 0000 sts (IntegralNick2)+3,r27
		2437	2670 13e4 8091 0000 lds r24,Mess_IntegralRoll2
		2438	2671 13e8 9091 0000 lds r25,(Mess_IntegralRoll2)+1
		2439	2672 13ec A091 0000 lds r26,(Mess_IntegralRoll2)+2
		2440	2673 13f0 B091 0000 lds r27,(Mess_IntegralRoll2)+3
		2441	2674 13f4 8093 0000 sts IntegralRoll2,r24
		2442	2675 13f8 9093 0000 sts (IntegralRoll2)+1,r25
		2443	2676 13fc A093 0000 sts (IntegralRoll2)+2,r26
		2444	2677 1400 B093 0000 sts (IntegralRoll2)+3,r27
		2445	2678 1404 8091 0000 lds r24,HiResNick
		2446	2679 1408 9091 0000 lds r25,(HiResNick)+1
		2447	2680 140c 97FD sbrc r25,7
		2448	2681 140e 0796 adiw r24,7
		2449	2682 .L119:
		2450	2683 1410 03E0 ldi r16,3
		2451	2684 1412 9595 1: asr r25
		2452	2685 1414 8795 ror r24
		2453	2686 1416 0A95 dec r16
		2454	2687 1418 01F4 brne 1b
		2455	2688 141a 9093 0000 sts (MesswertNick)+1,r25
		2456	2689 141e 8093 0000 sts MesswertNick,r24
		2457	2690 1422 8091 0000 lds r24,HiResRoll
		2458	2691 1426 9091 0000 lds r25,(HiResRoll)+1
		2459	2692 142a 97FD sbrc r25,7
		2460	2693 142c 0796 adiw r24,7
		2461	2694 .L120:
		2462	2695 142e 13E0 ldi r17,3
		2463	2696 1430 9595 1: asr r25
		2464	2697 1432 8795 ror r24
		2465	2698 1434 1A95 dec r17
		2466	2699 1436 01F4 brne 1b
		2467	2700 1438 9093 0000 sts (MesswertRoll)+1,r25
		2468	2701 143c 8093 0000 sts MesswertRoll,r24
		2469	2702 1440 8091 0000 lds r24,AdWertNick
		2470	2703 1444 9091 0000 lds r25,(AdWertNick)+1
		2471	2704 1448 0F97 sbiw r24,15
		2472	2705 144a 04F4 brge .L121
		2473	2706 144c 88E1 ldi r24,lo8(-1000)
		2474	2707 144e 9CEF ldi r25,hi8(-1000)
		2475	2708 1450 9093 0000 sts (MesswertNick)+1,r25
		2476	2709 1454 8093 0000 sts MesswertNick,r24
		2477	2710 .L121:
		2478	2711 1458 8091 0000 lds r24,AdWertNick
		2479	2712 145c 9091 0000 lds r25,(AdWertNick)+1
		2480	2713 1460 0797 sbiw r24,7
		2481	2714 1462 04F4 brge .L122
		2482	2715 1464 80E3 ldi r24,lo8(-2000)
		2483	2716 1466 98EF ldi r25,hi8(-2000)
		2484	2717 1468 9093 0000 sts (MesswertNick)+1,r25
		2485	2718 146c 8093 0000 sts MesswertNick,r24
		2486	2719 .L122:
		2487	2720 1470 2091 0000 lds r18,PlatinenVersion
		2488	2721 1474 2A30 cpi r18,lo8(10)
		2489	2722 1476 01F4 brne .L123
		2490	2723 1478 8091 0000 lds r24,AdWertNick
		2491	2724 147c 9091 0000 lds r25,(AdWertNick)+1
		2492	2725 1480 835F subi r24,lo8(1011)
		2493	2726 1482 9340 sbci r25,hi8(1011)
		2494	2727 1484 04F0 brlt .L124
		2495	2728 1486 88EE ldi r24,lo8(1000)
		2496	2729 1488 93E0 ldi r25,hi8(1000)
		2497	2730 148a 9093 0000 sts (MesswertNick)+1,r25
		2498	2731 148e 8093 0000 sts MesswertNick,r24
		2499	2732 .L124:
		2500	2733 1492 8091 0000 lds r24,AdWertNick
		2501	2734 1496 9091 0000 lds r25,(AdWertNick)+1
		2502	2735 149a 8A5F subi r24,lo8(1018)
		2503	2736 149c 9340 sbci r25,hi8(1018)
		2504	2737 149e 04F0 brlt .L126
		2505	2738 14a0 00C0 rjmp .L169
		2506	2739 .L123:
		2507	2740 14a2 8091 0000 lds r24,AdWertNick
		2508	2741 14a6 9091 0000 lds r25,(AdWertNick)+1
		2509	2742 14aa 815D subi r24,lo8(2001)
		2510	2743 14ac 9740 sbci r25,hi8(2001)
		2511	2744 14ae 04F0 brlt .L127
		2512	2745 14b0 88EE ldi r24,lo8(1000)
		2513	2746 14b2 93E0 ldi r25,hi8(1000)
		2514	2747 14b4 9093 0000 sts (MesswertNick)+1,r25
		2515	2748 14b8 8093 0000 sts MesswertNick,r24
		2516	2749 .L127:
		2517	2750 14bc 8091 0000 lds r24,AdWertNick
		2518	2751 14c0 9091 0000 lds r25,(AdWertNick)+1
		2519	2752 14c4 805E subi r24,lo8(2016)
		2520	2753 14c6 9740 sbci r25,hi8(2016)
		2521	2754 14c8 04F0 brlt .L126
		2522	2755 .L169:
		2523	2756 14ca 80ED ldi r24,lo8(2000)
		2524	2757 14cc 97E0 ldi r25,hi8(2000)
		2525	2758 14ce 9093 0000 sts (MesswertNick)+1,r25
		2526	2759 14d2 8093 0000 sts MesswertNick,r24
		2527	2760 .L126:
		2528	2761 14d6 8091 0000 lds r24,AdWertRoll
		2529	2762 14da 9091 0000 lds r25,(AdWertRoll)+1
		2530	2763 14de 0F97 sbiw r24,15
		2531	2764 14e0 04F4 brge .L129
		2532	2765 14e2 88E1 ldi r24,lo8(-1000)
		2533	2766 14e4 9CEF ldi r25,hi8(-1000)
		2534	2767 14e6 9093 0000 sts (MesswertRoll)+1,r25
		2535	2768 14ea 8093 0000 sts MesswertRoll,r24
		2536	2769 .L129:
		2537	2770 14ee 8091 0000 lds r24,AdWertRoll
		2538	2771 14f2 9091 0000 lds r25,(AdWertRoll)+1
		2539	2772 14f6 0797 sbiw r24,7
		2540	2773 14f8 04F4 brge .L130
		2541	2774 14fa 80E3 ldi r24,lo8(-2000)
		2542	2775 14fc 98EF ldi r25,hi8(-2000)
		2543	2776 14fe 9093 0000 sts (MesswertRoll)+1,r25
		2544	2777 1502 8093 0000 sts MesswertRoll,r24
		2545	2778 .L130:
		2546	2779 1506 2A30 cpi r18,lo8(10)
		2547	2780 1508 01F4 brne .L131
		2548	2781 150a 8091 0000 lds r24,AdWertRoll
		2549	2782 150e 9091 0000 lds r25,(AdWertRoll)+1
		2550	2783 1512 835F subi r24,lo8(1011)
		2551	2784 1514 9340 sbci r25,hi8(1011)
		2552	2785 1516 04F0 brlt .L132
		2553	2786 1518 88EE ldi r24,lo8(1000)
		2554	2787 151a 93E0 ldi r25,hi8(1000)
		2555	2788 151c 9093 0000 sts (MesswertRoll)+1,r25
		2556	2789 1520 8093 0000 sts MesswertRoll,r24
		2557	2790 .L132:
		2558	2791 1524 8091 0000 lds r24,AdWertRoll
		2559	2792 1528 9091 0000 lds r25,(AdWertRoll)+1
		2560	2793 152c 8A5F subi r24,lo8(1018)
		2561	2794 152e 9340 sbci r25,hi8(1018)
		2562	2795 1530 04F0 brlt .L134
		2563	2796 1532 00C0 rjmp .L170
		2564	2797 .L131:
		2565	2798 1534 8091 0000 lds r24,AdWertRoll
		2566	2799 1538 9091 0000 lds r25,(AdWertRoll)+1
		2567	2800 153c 815D subi r24,lo8(2001)
		2568	2801 153e 9740 sbci r25,hi8(2001)
		2569	2802 1540 04F0 brlt .L135
		2570	2803 1542 88EE ldi r24,lo8(1000)
		2571	2804 1544 93E0 ldi r25,hi8(1000)
		2572	2805 1546 9093 0000 sts (MesswertRoll)+1,r25
		2573	2806 154a 8093 0000 sts MesswertRoll,r24
		2574	2807 .L135:
		2575	2808 154e 8091 0000 lds r24,AdWertRoll
		2576	2809 1552 9091 0000 lds r25,(AdWertRoll)+1
		2577	2810 1556 805E subi r24,lo8(2016)
		2578	2811 1558 9740 sbci r25,hi8(2016)
		2579	2812 155a 04F0 brlt .L134
		2580	2813 .L170:
		2581	2814 155c 80ED ldi r24,lo8(2000)
		2582	2815 155e 97E0 ldi r25,hi8(2000)
		2583	2816 1560 9093 0000 sts (MesswertRoll)+1,r25
		2584	2817 1564 8093 0000 sts MesswertRoll,r24
		2585	2818 .L134:
		2586	2819 1568 6091 0000 lds r22,Parameter_Gyro_D
		2587	2820 156c 6623 tst r22
		2588	2821 156e 01F4 brne .+2
		2589	2822 1570 00C0 rjmp .L137
		2590	2823 1572 4091 0000 lds r20,HiResNick
		2591	2824 1576 5091 0000 lds r21,(HiResNick)+1
		2592	2825 157a 8091 0000 lds r24,oldNick.31
		2593	2826 157e 9091 0000 lds r25,(oldNick.31)+1
		2594	2827 1582 481B sub r20,r24
		2595	2828 1584 590B sbc r21,r25
		2596	2829 1586 5093 0000 sts (d2Nick.34)+1,r21
		2597	2830 158a 4093 0000 sts d2Nick.34,r20
		2598	2831 158e 2091 0000 lds r18,HiResNick
		2599	2832 1592 3091 0000 lds r19,(HiResNick)+1
		2600	2833 1596 280F add r18,r24
		2601	2834 1598 391F adc r19,r25
		2602	2835 159a 37FF sbrs r19,7
		2603	2836 159c 00C0 rjmp .L138
		2604	2837 159e 2F5F subi r18,lo8(-(1))
		2605	2838 15a0 3F4F sbci r19,hi8(-(1))
		2606	2839 .L138:
		2607	2840 15a2 3595 asr r19
		2608	2841 15a4 2795 ror r18
		2609	2842 15a6 3093 0000 sts (oldNick.31)+1,r19
		2610	2843 15aa 2093 0000 sts oldNick.31,r18
		2611	2844 15ae 4138 cpi r20,129
		2612	2845 15b0 5105 cpc r21,__zero_reg__
		2613	2846 15b2 04F0 brlt .L139
		2614	2847 15b4 80E8 ldi r24,lo8(128)
		2615	2848 15b6 90E0 ldi r25,hi8(128)
		2616	2849 15b8 00C0 rjmp .L171
		2617	2850 .L139:
		2618	2851 15ba 4058 subi r20,lo8(-128)
		2619	2852 15bc 5F4F sbci r21,hi8(-128)
		2620	2853 15be 04F4 brge .L140
		2621	2854 15c0 80E8 ldi r24,lo8(-128)
		2622	2855 15c2 9FEF ldi r25,hi8(-128)
		2623	2856 .L171:
		2624	2857 15c4 9093 0000 sts (d2Nick.34)+1,r25
		2625	2858 15c8 8093 0000 sts d2Nick.34,r24
		2626	2859 .L140:
		2627	2860 15cc 4091 0000 lds r20,HiResRoll
		2628	2861 15d0 5091 0000 lds r21,(HiResRoll)+1
		2629	2862 15d4 8091 0000 lds r24,oldRoll.32
		2630	2863 15d8 9091 0000 lds r25,(oldRoll.32)+1
		2631	2864 15dc 481B sub r20,r24
		2632	2865 15de 590B sbc r21,r25
		2633	2866 15e0 5093 0000 sts (d2Roll.33)+1,r21
		2634	2867 15e4 4093 0000 sts d2Roll.33,r20
		2635	2868 15e8 2091 0000 lds r18,HiResRoll
		2636	2869 15ec 3091 0000 lds r19,(HiResRoll)+1
		2637	2870 15f0 280F add r18,r24
		2638	2871 15f2 391F adc r19,r25
		2639	2872 15f4 37FF sbrs r19,7
		2640	2873 15f6 00C0 rjmp .L142
		2641	2874 15f8 2F5F subi r18,lo8(-(1))
		2642	2875 15fa 3F4F sbci r19,hi8(-(1))
		2643	2876 .L142:
		2644	2877 15fc 3595 asr r19
		2645	2878 15fe 2795 ror r18
		2646	2879 1600 3093 0000 sts (oldRoll.32)+1,r19
		2647	2880 1604 2093 0000 sts oldRoll.32,r18
		2648	2881 1608 4138 cpi r20,129
		2649	2882 160a 5105 cpc r21,__zero_reg__
		2650	2883 160c 04F0 brlt .L143
		2651	2884 160e 80E8 ldi r24,lo8(128)
		2652	2885 1610 90E0 ldi r25,hi8(128)
		2653	2886 1612 00C0 rjmp .L172
		2654	2887 .L143:
		2655	2888 1614 4058 subi r20,lo8(-128)
		2656	2889 1616 5F4F sbci r21,hi8(-128)
		2657	2890 1618 04F4 brge .L144
		2658	2891 161a 80E8 ldi r24,lo8(-128)
		2659	2892 161c 9FEF ldi r25,hi8(-128)
		2660	2893 .L172:
		2661	2894 161e 9093 0000 sts (d2Roll.33)+1,r25
		2662	2895 1622 8093 0000 sts d2Roll.33,r24
		2663	2896 .L144:
		2664	2897 1626 462F mov r20,r22
		2665	2898 1628 5527 clr r21
		2666	2899 162a 8091 0000 lds r24,d2Nick.34
		2667	2900 162e 9091 0000 lds r25,(d2Nick.34)+1
		2668	2901 1632 849F mul r24,r20
		2669	2902 1634 B001 movw r22,r0
		2670	2903 1636 859F mul r24,r21
		2671	2904 1638 700D add r23,r0
		2672	2905 163a 949F mul r25,r20
		2673	2906 163c 700D add r23,r0
		2674	2907 163e 1124 clr r1
		2675	2908 1640 9B01 movw r18,r22
		2676	2909 1642 77FF sbrs r23,7
		2677	2910 1644 00C0 rjmp .L146
		2678	2911 1646 215F subi r18,lo8(-(15))
		2679	2912 1648 3F4F sbci r19,hi8(-(15))
		2680	2913 .L146:
		2681	2914 164a F4E0 ldi r31,4
		2682	2915 164c 3595 1: asr r19
		2683	2916 164e 2795 ror r18
		2684	2917 1650 FA95 dec r31
		2685	2918 1652 01F4 brne 1b
		2686	2919 1654 8091 0000 lds r24,MesswertNick
		2687	2920 1658 9091 0000 lds r25,(MesswertNick)+1
		2688	2921 165c 820F add r24,r18
		2689	2922 165e 931F adc r25,r19
		2690	2923 1660 9093 0000 sts (MesswertNick)+1,r25
		2691	2924 1664 8093 0000 sts MesswertNick,r24
		2692	2925 1668 8091 0000 lds r24,d2Roll.33
		2693	2926 166c 9091 0000 lds r25,(d2Roll.33)+1
		2694	2927 1670 849F mul r24,r20
		2695	2928 1672 D001 movw r26,r0
		2696	2929 1674 859F mul r24,r21
		2697	2930 1676 B00D add r27,r0
		2698	2931 1678 949F mul r25,r20
		2699	2932 167a B00D add r27,r0
		2700	2933 167c 1124 clr r1
		2701	2934 167e AD01 movw r20,r26
		2702	2935 1680 9D01 movw r18,r26
		2703	2936 1682 B7FF sbrs r27,7
		2704	2937 1684 00C0 rjmp .L147
		2705	2938 1686 215F subi r18,lo8(-(15))
		2706	2939 1688 3F4F sbci r19,hi8(-(15))
		2707	2940 .L147:
		2708	2941 168a E4E0 ldi r30,4
		2709	2942 168c 3595 1: asr r19
		2710	2943 168e 2795 ror r18
		2711	2944 1690 EA95 dec r30
		2712	2945 1692 01F4 brne 1b
		2713	2946 1694 8091 0000 lds r24,MesswertRoll
		2714	2947 1698 9091 0000 lds r25,(MesswertRoll)+1
		2715	2948 169c 820F add r24,r18
		2716	2949 169e 931F adc r25,r19
		2717	2950 16a0 9093 0000 sts (MesswertRoll)+1,r25
		2718	2951 16a4 8093 0000 sts MesswertRoll,r24
		2719	2952 16a8 8091 0000 lds r24,HiResNick
		2720	2953 16ac 9091 0000 lds r25,(HiResNick)+1
		2721	2954 16b0 860F add r24,r22
		2722	2955 16b2 971F adc r25,r23
		2723	2956 16b4 9093 0000 sts (HiResNick)+1,r25
		2724	2957 16b8 8093 0000 sts HiResNick,r24
		2725	2958 16bc 8091 0000 lds r24,HiResRoll
		2726	2959 16c0 9091 0000 lds r25,(HiResRoll)+1
		2727	2960 16c4 840F add r24,r20
		2728	2961 16c6 951F adc r25,r21
		2729	2962 16c8 9093 0000 sts (HiResRoll)+1,r25
		2730	2963 16cc 8093 0000 sts HiResRoll,r24
		2731	2964 .L137:
		2732	2965 16d0 0091 0000 lds r16,RohMesswertRoll
		2733	2966 16d4 1091 0000 lds r17,(RohMesswertRoll)+1
		2734	2967 16d8 8091 0000 lds r24,KopplungsteilNickRoll
		2735	2968 16dc 9091 0000 lds r25,(KopplungsteilNickRoll)+1
		2736	2969 16e0 1016 cp __zero_reg__,r16
		2737	2970 16e2 1106 cpc __zero_reg__,r17
		2738	2971 16e4 04F4 brge .L148
		2739	2972 16e6 9C01 movw r18,r24
		2740	2973 16e8 97FF sbrs r25,7
		2741	2974 16ea 00C0 rjmp .L149
		2742	2975 16ec 2227 clr r18
		2743	2976 16ee 3327 clr r19
		2744	2977 16f0 281B sub r18,r24
		2745	2978 16f2 390B sbc r19,r25
		2746	2979 .L149:
		2747	2980 16f4 C901 movw r24,r18
		2748	2981 16f6 AA27 clr r26
		2749	2982 16f8 97FD sbrc r25,7
		2750	2983 16fa A095 com r26
		2751	2984 16fc BA2F mov r27,r26
		2752	2985 16fe 2091 0000 lds r18,Parameter_CouplingYawCorrection
		2753	2986 1702 3327 clr r19
		2754	2987 1704 4427 clr r20
		2755	2988 1706 5527 clr r21
		2756	2989 1708 BC01 movw r22,r24
		2757	2990 170a CD01 movw r24,r26
		2758	2991 170c 0E94 0000 call __mulsi3
		2759	2992 1710 9B01 movw r18,r22
		2760	2993 1712 AC01 movw r20,r24
		2761	2994 1714 97FF sbrs r25,7
		2762	2995 1716 00C0 rjmp .L150
		2763	2996 1718 215C subi r18,lo8(-(63))
		2764	2997 171a 3F4F sbci r19,hi8(-(63))
		2765	2998 171c 4F4F sbci r20,hlo8(-(63))
		2766	2999 171e 5F4F sbci r21,hhi8(-(63))
		2767	3000 .L150:
		2768	3001 1720 76E0 ldi r23,6
		2769	3002 1722 5595 1: asr r21
		2770	3003 1724 4795 ror r20
		2771	3004 1726 3795 ror r19
		2772	3005 1728 2795 ror r18
		2773	3006 172a 7A95 dec r23
		2774	3007 172c 01F4 brne 1b
		2775	3008 172e 8091 0000 lds r24,TrimRoll
		2776	3009 1732 9091 0000 lds r25,(TrimRoll)+1
		2777	3010 1736 820F add r24,r18
		2778	3011 1738 931F adc r25,r19
		2779	3012 173a 00C0 rjmp .L173
		2780	3013 .L148:
		2781	3014 173c 97FF sbrs r25,7
		2782	3015 173e 00C0 rjmp .L152
		2783	3016 1740 9095 com r25
		2784	3017 1742 8195 neg r24
		2785	3018 1744 9F4F sbci r25,lo8(-1)
		2786	3019 .L152:
		2787	3020 1746 AA27 clr r26
		2788	3021 1748 97FD sbrc r25,7
		2789	3022 174a A095 com r26
		2790	3023 174c BA2F mov r27,r26
		2791	3024 174e 2091 0000 lds r18,Parameter_CouplingYawCorrection
		2792	3025 1752 3327 clr r19
		2793	3026 1754 4427 clr r20
		2794	3027 1756 5527 clr r21
		2795	3028 1758 BC01 movw r22,r24
		2796	3029 175a CD01 movw r24,r26
		2797	3030 175c 0E94 0000 call __mulsi3
		2798	3031 1760 9B01 movw r18,r22
		2799	3032 1762 AC01 movw r20,r24
		2800	3033 1764 97FF sbrs r25,7
		2801	3034 1766 00C0 rjmp .L153
		2802	3035 1768 215C subi r18,lo8(-(63))
		2803	3036 176a 3F4F sbci r19,hi8(-(63))
		2804	3037 176c 4F4F sbci r20,hlo8(-(63))
		2805	3038 176e 5F4F sbci r21,hhi8(-(63))
		2806	3039 .L153:
		2807	3040 1770 66E0 ldi r22,6
		2808	3041 1772 5595 1: asr r21
		2809	3042 1774 4795 ror r20
		2810	3043 1776 3795 ror r19
		2811	3044 1778 2795 ror r18
		2812	3045 177a 6A95 dec r22
		2813	3046 177c 01F4 brne 1b
		2814	3047 177e 8091 0000 lds r24,TrimRoll
		2815	3048 1782 9091 0000 lds r25,(TrimRoll)+1
		2816	3049 1786 821B sub r24,r18
		2817	3050 1788 930B sbc r25,r19
		2818	3051 .L173:
		2819	3052 178a 9093 0000 sts (TrimRoll)+1,r25
		2820	3053 178e 8093 0000 sts TrimRoll,r24
		2821	3054 1792 E090 0000 lds r14,RohMesswertNick
		2822	3055 1796 F090 0000 lds r15,(RohMesswertNick)+1
		2823	3056 179a 8091 0000 lds r24,KopplungsteilRollNick
		2824	3057 179e 9091 0000 lds r25,(KopplungsteilRollNick)+1
		2825	3058 17a2 1E14 cp __zero_reg__,r14
		2826	3059 17a4 1F04 cpc __zero_reg__,r15
		2827	3060 17a6 04F4 brge .L154
		2828	3061 17a8 9C01 movw r18,r24
		2829	3062 17aa 97FF sbrs r25,7
		2830	3063 17ac 00C0 rjmp .L155
		2831	3064 17ae 2227 clr r18
		2832	3065 17b0 3327 clr r19
		2833	3066 17b2 281B sub r18,r24
		2834	3067 17b4 390B sbc r19,r25
		2835	3068 .L155:
		2836	3069 17b6 C901 movw r24,r18
		2837	3070 17b8 AA27 clr r26
		2838	3071 17ba 97FD sbrc r25,7
		2839	3072 17bc A095 com r26
		2840	3073 17be BA2F mov r27,r26
		2841	3074 17c0 2091 0000 lds r18,Parameter_CouplingYawCorrection
		2842	3075 17c4 3327 clr r19
		2843	3076 17c6 4427 clr r20
		2844	3077 17c8 5527 clr r21
		2845	3078 17ca BC01 movw r22,r24
		2846	3079 17cc CD01 movw r24,r26
		2847	3080 17ce 0E94 0000 call __mulsi3
		2848	3081 17d2 9B01 movw r18,r22
		2849	3082 17d4 AC01 movw r20,r24
		2850	3083 17d6 97FF sbrs r25,7
		2851	3084 17d8 00C0 rjmp .L156
		2852	3085 17da 215C subi r18,lo8(-(63))
		2853	3086 17dc 3F4F sbci r19,hi8(-(63))
		2854	3087 17de 4F4F sbci r20,hlo8(-(63))
		2855	3088 17e0 5F4F sbci r21,hhi8(-(63))
		2856	3089 .L156:
		2857	3090 17e2 96E0 ldi r25,6
		2858	3091 17e4 5595 1: asr r21
		2859	3092 17e6 4795 ror r20
		2860	3093 17e8 3795 ror r19
		2861	3094 17ea 2795 ror r18
		2862	3095 17ec 9A95 dec r25
		2863	3096 17ee 01F4 brne 1b
		2864	3097 17f0 8091 0000 lds r24,TrimNick
		2865	3098 17f4 9091 0000 lds r25,(TrimNick)+1
		2866	3099 17f8 820F add r24,r18
		2867	3100 17fa 931F adc r25,r19
		2868	3101 17fc 00C0 rjmp .L174
		2869	3102 .L154:
		2870	3103 17fe 97FF sbrs r25,7
		2871	3104 1800 00C0 rjmp .L158
		2872	3105 1802 9095 com r25
		2873	3106 1804 8195 neg r24
		2874	3107 1806 9F4F sbci r25,lo8(-1)
		2875	3108 .L158:
		2876	3109 1808 AA27 clr r26
		2877	3110 180a 97FD sbrc r25,7
		2878	3111 180c A095 com r26
		2879	3112 180e BA2F mov r27,r26
		2880	3113 1810 2091 0000 lds r18,Parameter_CouplingYawCorrection
		2881	3114 1814 3327 clr r19
		2882	3115 1816 4427 clr r20
		2883	3116 1818 5527 clr r21
		2884	3117 181a BC01 movw r22,r24
		2885	3118 181c CD01 movw r24,r26
		2886	3119 181e 0E94 0000 call __mulsi3
		2887	3120 1822 9B01 movw r18,r22
		2888	3121 1824 AC01 movw r20,r24
		2889	3122 1826 97FF sbrs r25,7
		2890	3123 1828 00C0 rjmp .L159
		2891	3124 182a 215C subi r18,lo8(-(63))
		2892	3125 182c 3F4F sbci r19,hi8(-(63))
		2893	3126 182e 4F4F sbci r20,hlo8(-(63))
		2894	3127 1830 5F4F sbci r21,hhi8(-(63))
		2895	3128 .L159:
		2896	3129 1832 86E0 ldi r24,6
		2897	3130 1834 5595 1: asr r21
		2898	3131 1836 4795 ror r20
		2899	3132 1838 3795 ror r19
		2900	3133 183a 2795 ror r18
		2901	3134 183c 8A95 dec r24
		2902	3135 183e 01F4 brne 1b
		2903	3136 1840 8091 0000 lds r24,TrimNick
		2904	3137 1844 9091 0000 lds r25,(TrimNick)+1
		2905	3138 1848 821B sub r24,r18
		2906	3139 184a 930B sbc r25,r19
		2907	3140 .L174:
		2908	3141 184c 9093 0000 sts (TrimNick)+1,r25
		2909	3142 1850 8093 0000 sts TrimNick,r24
		2910	3143 1854 8091 0000 lds r24,Parameter_GlobalConfig
		2911	3144 1858 87FF sbrs r24,7
		2912	3145 185a 00C0 rjmp .L82
		2913	3146 185c B989 ldd r27,Y+17
		2914	3147 185e BB23 tst r27
		2915	3148 1860 01F0 breq .+2
		2916	3149 1862 00C0 rjmp .L82
		2917	3150 1864 8091 0000 lds r24,Looping_Roll
		2918	3151 1868 8823 tst r24
		2919	3152 186a 01F4 brne .L82
		2920	3153 186c E1E0 ldi r30,lo8(257)
		2921	3154 186e EE16 cp r14,r30
		2922	3155 1870 E1E0 ldi r30,hi8(257)
		2923	3156 1872 FE06 cpc r15,r30
		2924	3157 1874 04F0 brlt .L161
		2925	3158 1876 8091 0000 lds r24,MesswertNick
		2926	3159 187a 9091 0000 lds r25,(MesswertNick)+1
		2927	3160 187e 8E0D add r24,r14
		2928	3161 1880 9F1D adc r25,r15
		2929	3162 1882 8050 subi r24,lo8(-(-256))
		2930	3163 1884 9140 sbci r25,hi8(-(-256))
		2931	3164 1886 00C0 rjmp .L175
		2932	3165 .L161:
		2933	3166 1888 F0E0 ldi r31,lo8(-256)
		2934	3167 188a EF16 cp r14,r31
		2935	3168 188c FFEF ldi r31,hi8(-256)
		2936	3169 188e FF06 cpc r15,r31
		2937	3170 1890 04F4 brge .L162
		2938	3171 1892 8091 0000 lds r24,MesswertNick
		2939	3172 1896 9091 0000 lds r25,(MesswertNick)+1
		2940	3173 189a 8E0D add r24,r14
		2941	3174 189c 9F1D adc r25,r15
		2942	3175 189e 8050 subi r24,lo8(-(256))
		2943	3176 18a0 9F4F sbci r25,hi8(-(256))
		2944	3177 .L175:
		2945	3178 18a2 9093 0000 sts (MesswertNick)+1,r25
		2946	3179 18a6 8093 0000 sts MesswertNick,r24
		2947	3180 .L162:
		2948	3181 18aa 21E0 ldi r18,hi8(257)
		2949	3182 18ac 0130 cpi r16,lo8(257)
		2950	3183 18ae 1207 cpc r17,r18
		2951	3184 18b0 04F0 brlt .L164
		2952	3185 18b2 8091 0000 lds r24,MesswertRoll
		2953	3186 18b6 9091 0000 lds r25,(MesswertRoll)+1
		2954	3187 18ba 800F add r24,r16
		2955	3188 18bc 911F adc r25,r17
		2956	3189 18be 8050 subi r24,lo8(-(-256))
		2957	3190 18c0 9140 sbci r25,hi8(-(-256))
		2958	3191 18c2 00C0 rjmp .L176
		2959	3192 .L164:
		2960	3193 18c4 3FEF ldi r19,hi8(-256)
		2961	3194 18c6 0030 cpi r16,lo8(-256)
		2962	3195 18c8 1307 cpc r17,r19
		2963	3196 18ca 04F4 brge .L82
		2964	3197 18cc 8091 0000 lds r24,MesswertRoll
		2965	3198 18d0 9091 0000 lds r25,(MesswertRoll)+1
		2966	3199 18d4 800F add r24,r16
		2967	3200 18d6 911F adc r25,r17
		2968	3201 18d8 8050 subi r24,lo8(-(256))
		2969	3202 18da 9F4F sbci r25,hi8(-(256))
		2970	3203 .L176:
		2971	3204 18dc 9093 0000 sts (MesswertRoll)+1,r25
		2972	3205 18e0 8093 0000 sts MesswertRoll,r24
		2973	3206 .L82:
		2974	3207 /* epilogue: frame size=19 */
		2975	3208 18e4 E2E1 ldi r30,18
		2976	3209 18e6 CD5E subi r28,-19
		2977	3210 18e8 0C94 0000 jmp __epilogue_restores__+0
		2978	3211 /* epilogue end (size=4) */
		2979	3212 /* function Mittelwert size 2000 (1990) */
		2980	3214 .global SendMotorData
		2981	3216 SendMotorData:
		2982	3217 /* prologue: frame size=0 */
		2983	3218 /* prologue end (size=0) */
		2984	3219 18ec 8091 0000 lds r24,MotorenEin
		2985	3220 18f0 8823 tst r24
		2986	3221 18f2 01F4 brne .L178
		2987	3222 18f4 8091 0000 lds r24,FC_StatusFlags
		2988	3223 18f8 8C7F andi r24,lo8(-4)
		2989	3224 18fa 8093 0000 sts FC_StatusFlags,r24
		2990	3225 18fe A0E0 ldi r26,lo8(MotorTest)
		2991	3226 1900 B0E0 ldi r27,hi8(MotorTest)
		2992	3227 1902 E0E0 ldi r30,lo8(Motor)
		2993	3228 1904 F0E0 ldi r31,hi8(Motor)
		2994	3229 1906 9BE0 ldi r25,lo8(11)
		2995	3230 .L183:
		2996	3231 1908 8091 0000 lds r24,PC_MotortestActive
		2997	3232 190c 8823 tst r24
		2998	3233 190e 01F4 brne .L182
		2999	3234 1910 8C93 st X,r24
		3000	3235 .L182:
		3001	3236 1912 8D91 ld r24,X+
		3002	3237 1914 8183 std Z+1,r24
		3003	3238 1916 1282 std Z+2,__zero_reg__
		3004	3239 1918 9150 subi r25,lo8(-(-1))
		3005	3240 191a 3896 adiw r30,8
		3006	3241 191c 97FF sbrs r25,7
		3007	3242 191e 00C0 rjmp .L183
		3008	3243 1920 8091 0000 lds r24,PC_MotortestActive
		3009	3244 1924 8823 tst r24
		3010	3245 1926 01F0 breq .L185
		3011	3246 1928 8091 0000 lds r24,PC_MotortestActive
		3012	3247 192c 8150 subi r24,lo8(-(-1))
		3013	3248 192e 8093 0000 sts PC_MotortestActive,r24
		3014	3249 1932 00C0 rjmp .L185
		3015	3250 .L178:
		3016	3251 1934 8091 0000 lds r24,FC_StatusFlags
		3017	3252 1938 8160 ori r24,lo8(1)
		3018	3253 193a 8093 0000 sts FC_StatusFlags,r24
		3019	3254 .L185:
		3020	3255 193e 8091 0000 lds r24,I2C_TransferActive
		3021	3256 1942 8823 tst r24
		3022	3257 1944 01F0 breq .L186
		3023	3258 1946 1092 0000 sts I2C_TransferActive,__zero_reg__
		3024	3259 194a 0895 ret
		3025	3260 .L186:
		3026	3261 194c 8093 0000 sts motor_write,r24
		3027	3262 1950 8093 0000 sts twi_state,r24
		3028	3263 1954 8091 0000 lds r24,BLFlags
		3029	3264 1958 8E7F andi r24,lo8(-2)
		3030	3265 195a 8093 0000 sts BLFlags,r24
		3031	3266 195e 85EA ldi r24,lo8(-91)
		3032	3267 1960 8093 BC00 sts 188,r24
		3033	3268 1964 0895 ret
		3034	3269 /* epilogue: frame size=0 */
		3035	3270 /* epilogue: noreturn */
		3036	3271 /* epilogue end (size=0) */
		3037	3272 /* function SendMotorData size 61 (61) */
		3038	3274 .global ParameterZuordnung
		3039	3276 ParameterZuordnung:
		3040	3277 /* prologue: frame size=0 */
		3041	3278 1966 CF93 push r28
		3042	3279 1968 DF93 push r29
		3043	3280 /* prologue end (size=2) */
		3044	3281 196a A0E0 ldi r26,lo8(Poti)
		3045	3282 196c B0E0 ldi r27,hi8(Poti)
		3046	3283 196e C0E0 ldi r28,lo8(EE_Parameter+5)
		3047	3284 1970 D0E0 ldi r29,hi8(EE_Parameter+5)
		3048	3285 1972 57E0 ldi r21,lo8(7)
		3049	3286 .L203:
		3050	3287 1974 9991 ld r25,Y+
		3051	3288 1976 E92F mov r30,r25
		3052	3289 1978 FF27 clr r31
		3053	3290 197a EE0F add r30,r30
		3054	3291 197c FF1F adc r31,r31
		3055	3292 197e E050 subi r30,lo8(-(PPM_in))
		3056	3293 1980 F040 sbci r31,hi8(-(PPM_in))
		3057	3294 1982 0190 ld __tmp_reg__,Z+
		3058	3295 1984 F081 ld r31,Z
		3059	3296 1986 E02D mov r30,__tmp_reg__
		3060	3297 1988 E158 subi r30,lo8(-(127))
		3061	3298 198a FF4F sbci r31,hi8(-(127))
		3062	3299 198c EF3F cpi r30,255
		3063	3300 198e F105 cpc r31,__zero_reg__
		3064	3301 1990 01F0 breq .L194
		3065	3302 1992 04F0 brlt .L194
		3066	3303 1994 EFEF ldi r30,lo8(255)
		3067	3304 1996 F0E0 ldi r31,hi8(255)
		3068	3305 1998 00C0 rjmp .L195
		3069	3306 .L194:
		3070	3307 199a F7FF sbrs r31,7
		3071	3308 199c 00C0 rjmp .L195
		3072	3309 199e E0E0 ldi r30,lo8(0)
		3073	3310 19a0 F0E0 ldi r31,hi8(0)
		3074	3311 .L195:
		3075	3312 19a2 9931 cpi r25,lo8(25)
		3076	3313 19a4 01F4 brne .L197
		3077	3314 19a6 EC93 st X,r30
		3078	3315 19a8 00C0 rjmp .L193
		3079	3316 .L197:
		3080	3317 19aa 4C91 ld r20,X
		3081	3318 19ac 242F mov r18,r20
		3082	3319 19ae 3327 clr r19
		3083	3320 19b0 E217 cp r30,r18
		3084	3321 19b2 F307 cpc r31,r19
		3085	3322 19b4 01F0 breq .L193
		3086	3323 19b6 CF01 movw r24,r30
		3087	3324 19b8 821B sub r24,r18
		3088	3325 19ba 930B sbc r25,r19
		3089	3326 19bc 97FD sbrc r25,7
		3090	3327 19be 0396 adiw r24,3
		3091	3328 .L200:
		3092	3329 19c0 9595 asr r25
		3093	3330 19c2 8795 ror r24
		3094	3331 19c4 9595 asr r25
		3095	3332 19c6 8795 ror r24
		3096	3333 19c8 242F mov r18,r20
		3097	3334 19ca 280F add r18,r24
		3098	3335 19cc 2C93 st X,r18
		3099	3336 19ce 822F mov r24,r18
		3100	3337 19d0 9927 clr r25
		3101	3338 19d2 E817 cp r30,r24
		3102	3339 19d4 F907 cpc r31,r25
		3103	3340 19d6 04F4 brge .L201
		3104	3341 19d8 2150 subi r18,lo8(-(-1))
		3105	3342 19da 00C0 rjmp .L327
		3106	3343 .L201:
		3107	3344 19dc 2F5F subi r18,lo8(-(1))
		3108	3345 .L327:
		3109	3346 19de 2C93 st X,r18
		3110	3347 .L193:
		3111	3348 19e0 5150 subi r21,lo8(-(-1))
		3112	3349 19e2 1196 adiw r26,1
		3113	3350 19e4 57FF sbrs r21,7
		3114	3351 19e6 00C0 rjmp .L203
		3115	3352 19e8 8091 0000 lds r24,EE_Parameter+15
		3116	3353 19ec 883F cpi r24,lo8(-8)
		3117	3354 19ee 00F0 brlo .L328
		3118	3355 19f0 EFEF ldi r30,lo8(255)
		3119	3356 19f2 F0E0 ldi r31,hi8(255)
		3120	3357 19f4 E81B sub r30,r24
		3121	3358 19f6 F109 sbc r31,__zero_reg__
		3122	3359 19f8 E050 subi r30,lo8(-(Poti))
		3123	3360 19fa F040 sbci r31,hi8(-(Poti))
		3124	3361 19fc 8081 ld r24,Z
		3125	3362 .L328:
		3126	3363 19fe 8093 0000 sts Parameter_Luftdruck_D,r24
		3127	3364 1a02 8091 0000 lds r24,Parameter_Luftdruck_D
		3128	3365 1a06 8823 tst r24
		3129	3366 1a08 01F0 breq .L207
		3130	3367 1a0a 8436 cpi r24,lo8(100)
		3131	3368 1a0c 00F0 brlo .L207
		3132	3369 1a0e 84E6 ldi r24,lo8(100)
		3133	3370 1a10 8093 0000 sts Parameter_Luftdruck_D,r24
		3134	3371 .L207:
		3135	3372 1a14 8091 0000 lds r24,EE_Parameter+17
		3136	3373 1a18 883F cpi r24,lo8(-8)
		3137	3374 1a1a 00F0 brlo .L329
		3138	3375 1a1c EFEF ldi r30,lo8(255)
		3139	3376 1a1e F0E0 ldi r31,hi8(255)
		3140	3377 1a20 E81B sub r30,r24
		3141	3378 1a22 F109 sbc r31,__zero_reg__
		3142	3379 1a24 E050 subi r30,lo8(-(Poti))
		3143	3380 1a26 F040 sbci r31,hi8(-(Poti))
		3144	3381 1a28 8081 ld r24,Z
		3145	3382 .L329:
		3146	3383 1a2a 8093 0000 sts Parameter_Hoehe_P,r24
		3147	3384 1a2e 8091 0000 lds r24,Parameter_Hoehe_P
		3148	3385 1a32 8823 tst r24
		3149	3386 1a34 01F0 breq .L212
		3150	3387 1a36 8436 cpi r24,lo8(100)
		3151	3388 1a38 00F0 brlo .L212
		3152	3389 1a3a 84E6 ldi r24,lo8(100)
		3153	3390 1a3c 8093 0000 sts Parameter_Hoehe_P,r24
		3154	3391 .L212:
		3155	3392 1a40 8091 0000 lds r24,EE_Parameter+30
		3156	3393 1a44 883F cpi r24,lo8(-8)
		3157	3394 1a46 00F0 brlo .L330
		3158	3395 1a48 EFEF ldi r30,lo8(255)
		3159	3396 1a4a F0E0 ldi r31,hi8(255)
		3160	3397 1a4c E81B sub r30,r24
		3161	3398 1a4e F109 sbc r31,__zero_reg__
		3162	3399 1a50 E050 subi r30,lo8(-(Poti))
		3163	3400 1a52 F040 sbci r31,hi8(-(Poti))
		3164	3401 1a54 8081 ld r24,Z
		3165	3402 .L330:
		3166	3403 1a56 8093 0000 sts Parameter_Gyro_P,r24
		3167	3404 1a5a 8091 0000 lds r24,Parameter_Gyro_P
		3168	3405 1a5e 8B30 cpi r24,lo8(11)
		3169	3406 1a60 00F4 brsh .L216
		3170	3407 1a62 8AE0 ldi r24,lo8(10)
		3171	3408 1a64 00C0 rjmp .L331
		3172	3409 .L216:
		3173	3410 1a66 8F3F cpi r24,lo8(-1)
		3174	3411 1a68 01F4 brne .L217
		3175	3412 .L331:
		3176	3413 1a6a 8093 0000 sts Parameter_Gyro_P,r24
		3177	3414 .L217:
		3178	3415 1a6e 8091 0000 lds r24,EE_Parameter+75
		3179	3416 1a72 883F cpi r24,lo8(-8)
		3180	3417 1a74 00F0 brlo .L332
		3181	3418 1a76 EFEF ldi r30,lo8(255)
		3182	3419 1a78 F0E0 ldi r31,hi8(255)
		3183	3420 1a7a E81B sub r30,r24
		3184	3421 1a7c F109 sbc r31,__zero_reg__
		3185	3422 1a7e E050 subi r30,lo8(-(Poti))
		3186	3423 1a80 F040 sbci r31,hi8(-(Poti))
		3187	3424 1a82 8081 ld r24,Z
		3188	3425 .L332:
		3189	3426 1a84 8093 0000 sts Parameter_J16Timing,r24
		3190	3427 1a88 8091 0000 lds r24,Parameter_J16Timing
		3191	3428 1a8c 8630 cpi r24,lo8(6)
		3192	3429 1a8e 00F4 brsh .L221
		3193	3430 1a90 85E0 ldi r24,lo8(5)
		3194	3431 1a92 00C0 rjmp .L333
		3195	3432 .L221:
		3196	3433 1a94 8F3F cpi r24,lo8(-1)
		3197	3434 1a96 01F4 brne .L222
		3198	3435 .L333:
		3199	3436 1a98 8093 0000 sts Parameter_J16Timing,r24
		3200	3437 .L222:
		3201	3438 1a9c 8091 0000 lds r24,EE_Parameter+77
		3202	3439 1aa0 883F cpi r24,lo8(-8)
		3203	3440 1aa2 00F0 brlo .L334
		3204	3441 1aa4 EFEF ldi r30,lo8(255)
		3205	3442 1aa6 F0E0 ldi r31,hi8(255)
		3206	3443 1aa8 E81B sub r30,r24
		3207	3444 1aaa F109 sbc r31,__zero_reg__
		3208	3445 1aac E050 subi r30,lo8(-(Poti))
		3209	3446 1aae F040 sbci r31,hi8(-(Poti))
		3210	3447 1ab0 8081 ld r24,Z
		3211	3448 .L334:
		3212	3449 1ab2 8093 0000 sts Parameter_J17Timing,r24
		3213	3450 1ab6 8091 0000 lds r24,Parameter_J17Timing
		3214	3451 1aba 8630 cpi r24,lo8(6)
		3215	3452 1abc 00F4 brsh .L226
		3216	3453 1abe 85E0 ldi r24,lo8(5)
		3217	3454 1ac0 00C0 rjmp .L335
		3218	3455 .L226:
		3219	3456 1ac2 8F3F cpi r24,lo8(-1)
		3220	3457 1ac4 01F4 brne .L227
		3221	3458 .L335:
		3222	3459 1ac6 8093 0000 sts Parameter_J17Timing,r24
		3223	3460 .L227:
		3224	3461 1aca 8091 0000 lds r24,EE_Parameter+56
		3225	3462 1ace 873F cpi r24,lo8(-9)
		3226	3463 1ad0 01F4 brne .L229
		3227	3464 1ad2 4299 sbic 40-0x20,2
		3228	3465 1ad4 00C0 rjmp .L368
		3229	3466 1ad6 00C0 rjmp .L234
		3230	3467 .L229:
		3231	3468 1ad8 863F cpi r24,lo8(-10)
		3232	3469 1ada 01F4 brne .L233
		3233	3470 1adc 439B sbis 40-0x20,3
		3234	3471 1ade 00C0 rjmp .L234
		3235	3472 .L368:
		3236	3473 1ae0 8CE8 ldi r24,lo8(-116)
		3237	3474 1ae2 00C0 rjmp .L336
		3238	3475 .L234:
		3239	3476 1ae4 86E4 ldi r24,lo8(70)
		3240	3477 1ae6 00C0 rjmp .L336
		3241	3478 .L233:
		3242	3479 1ae8 883F cpi r24,lo8(-8)
		3243	3480 1aea 00F0 brlo .L336
		3244	3481 1aec EFEF ldi r30,lo8(255)
		3245	3482 1aee F0E0 ldi r31,hi8(255)
		3246	3483 1af0 E81B sub r30,r24
		3247	3484 1af2 F109 sbc r31,__zero_reg__
		3248	3485 1af4 E050 subi r30,lo8(-(Poti))
		3249	3486 1af6 F040 sbci r31,hi8(-(Poti))
		3250	3487 1af8 8081 ld r24,Z
		3251	3488 .L336:
		3252	3489 1afa 8093 0000 sts Parameter_Servo3,r24
		3253	3490 1afe 8091 0000 lds r24,EE_Parameter+57
		3254	3491 1b02 873F cpi r24,lo8(-9)
		3255	3492 1b04 01F4 brne .L239
		3256	3493 1b06 4299 sbic 40-0x20,2
		3257	3494 1b08 00C0 rjmp .L369
		3258	3495 1b0a 00C0 rjmp .L244
		3259	3496 .L239:
		3260	3497 1b0c 863F cpi r24,lo8(-10)
		3261	3498 1b0e 01F4 brne .L243
		3262	3499 1b10 439B sbis 40-0x20,3
		3263	3500 1b12 00C0 rjmp .L244
		3264	3501 .L369:
		3265	3502 1b14 8CE8 ldi r24,lo8(-116)
		3266	3503 1b16 00C0 rjmp .L337
		3267	3504 .L244:
		3268	3505 1b18 86E4 ldi r24,lo8(70)
		3269	3506 1b1a 00C0 rjmp .L337
		3270	3507 .L243:
		3271	3508 1b1c 883F cpi r24,lo8(-8)
		3272	3509 1b1e 00F0 brlo .L337
		3273	3510 1b20 EFEF ldi r30,lo8(255)
		3274	3511 1b22 F0E0 ldi r31,hi8(255)
		3275	3512 1b24 E81B sub r30,r24
		3276	3513 1b26 F109 sbc r31,__zero_reg__
		3277	3514 1b28 E050 subi r30,lo8(-(Poti))
		3278	3515 1b2a F040 sbci r31,hi8(-(Poti))
		3279	3516 1b2c 8081 ld r24,Z
		3280	3517 .L337:
		3281	3518 1b2e 8093 0000 sts Parameter_Servo4,r24
		3282	3519 1b32 8091 0000 lds r24,EE_Parameter+58
		3283	3520 1b36 883F cpi r24,lo8(-8)
		3284	3521 1b38 00F0 brlo .L338
		3285	3522 1b3a EFEF ldi r30,lo8(255)
		3286	3523 1b3c F0E0 ldi r31,hi8(255)
		3287	3524 1b3e E81B sub r30,r24
		3288	3525 1b40 F109 sbc r31,__zero_reg__
		3289	3526 1b42 E050 subi r30,lo8(-(Poti))
		3290	3527 1b44 F040 sbci r31,hi8(-(Poti))
		3291	3528 1b46 8081 ld r24,Z
		3292	3529 .L338:
		3293	3530 1b48 8093 0000 sts Parameter_Servo5,r24
		3294	3531 1b4c 8091 0000 lds r24,EE_Parameter+16
		3295	3532 1b50 883F cpi r24,lo8(-8)
		3296	3533 1b52 00F0 brlo .L339
		3297	3534 1b54 EFEF ldi r30,lo8(255)
		3298	3535 1b56 F0E0 ldi r31,hi8(255)
		3299	3536 1b58 E81B sub r30,r24
		3300	3537 1b5a F109 sbc r31,__zero_reg__
		3301	3538 1b5c E050 subi r30,lo8(-(Poti))
		3302	3539 1b5e F040 sbci r31,hi8(-(Poti))
		3303	3540 1b60 8081 ld r24,Z
		3304	3541 .L339:
		3305	3542 1b62 8093 0000 sts Parameter_HoehenSchalter,r24
		3306	3543 1b66 8091 0000 lds r24,EE_Parameter+19
		3307	3544 1b6a 883F cpi r24,lo8(-8)
		3308	3545 1b6c 00F0 brlo .L340
		3309	3546 1b6e EFEF ldi r30,lo8(255)
		3310	3547 1b70 F0E0 ldi r31,hi8(255)
		3311	3548 1b72 E81B sub r30,r24
		3312	3549 1b74 F109 sbc r31,__zero_reg__
		3313	3550 1b76 E050 subi r30,lo8(-(Poti))
		3314	3551 1b78 F040 sbci r31,hi8(-(Poti))
		3315	3552 1b7a 8081 ld r24,Z
		3316	3553 .L340:
		3317	3554 1b7c 8093 0000 sts Parameter_Hoehe_ACC_Wirkung,r24
		3318	3555 1b80 8091 0000 lds r24,EE_Parameter+21
		3319	3556 1b84 883F cpi r24,lo8(-8)
		3320	3557 1b86 00F0 brlo .L341
		3321	3558 1b88 EFEF ldi r30,lo8(255)
		3322	3559 1b8a F0E0 ldi r31,hi8(255)
		3323	3560 1b8c E81B sub r30,r24
		3324	3561 1b8e F109 sbc r31,__zero_reg__
		3325	3562 1b90 E050 subi r30,lo8(-(Poti))
		3326	3563 1b92 F040 sbci r31,hi8(-(Poti))
		3327	3564 1b94 8081 ld r24,Z
		3328	3565 .L341:
		3329	3566 1b96 8093 0000 sts Parameter_Hoehe_GPS_Z,r24
		3330	3567 1b9a 8091 0000 lds r24,EE_Parameter+29
		3331	3568 1b9e 883F cpi r24,lo8(-8)
		3332	3569 1ba0 00F0 brlo .L342
		3333	3570 1ba2 EFEF ldi r30,lo8(255)
		3334	3571 1ba4 F0E0 ldi r31,hi8(255)
		3335	3572 1ba6 E81B sub r30,r24
		3336	3573 1ba8 F109 sbc r31,__zero_reg__
		3337	3574 1baa E050 subi r30,lo8(-(Poti))
		3338	3575 1bac F040 sbci r31,hi8(-(Poti))
		3339	3576 1bae 8081 ld r24,Z
		3340	3577 .L342:
		3341	3578 1bb0 8093 0000 sts Parameter_KompassWirkung,r24
		3342	3579 1bb4 8091 0000 lds r24,EE_Parameter+31
		3343	3580 1bb8 883F cpi r24,lo8(-8)
		3344	3581 1bba 00F0 brlo .L343
		3345	3582 1bbc EFEF ldi r30,lo8(255)
		3346	3583 1bbe F0E0 ldi r31,hi8(255)
		3347	3584 1bc0 E81B sub r30,r24
		3348	3585 1bc2 F109 sbc r31,__zero_reg__
		3349	3586 1bc4 E050 subi r30,lo8(-(Poti))
		3350	3587 1bc6 F040 sbci r31,hi8(-(Poti))
		3351	3588 1bc8 8081 ld r24,Z
		3352	3589 .L343:
		3353	3590 1bca 8093 0000 sts Parameter_Gyro_I,r24
		3354	3591 1bce 8091 0000 lds r24,EE_Parameter+32
		3355	3592 1bd2 883F cpi r24,lo8(-8)
		3356	3593 1bd4 00F0 brlo .L344
		3357	3594 1bd6 EFEF ldi r30,lo8(255)
		3358	3595 1bd8 F0E0 ldi r31,hi8(255)
		3359	3596 1bda E81B sub r30,r24
		3360	3597 1bdc F109 sbc r31,__zero_reg__
		3361	3598 1bde E050 subi r30,lo8(-(Poti))
		3362	3599 1be0 F040 sbci r31,hi8(-(Poti))
		3363	3600 1be2 8081 ld r24,Z
		3364	3601 .L344:
		3365	3602 1be4 8093 0000 sts Parameter_Gyro_D,r24
		3366	3603 1be8 8091 0000 lds r24,EE_Parameter+33
		3367	3604 1bec 883F cpi r24,lo8(-8)
		3368	3605 1bee 00F0 brlo .L345
		3369	3606 1bf0 EFEF ldi r30,lo8(255)
		3370	3607 1bf2 F0E0 ldi r31,hi8(255)
		3371	3608 1bf4 E81B sub r30,r24
		3372	3609 1bf6 F109 sbc r31,__zero_reg__
		3373	3610 1bf8 E050 subi r30,lo8(-(Poti))
		3374	3611 1bfa F040 sbci r31,hi8(-(Poti))
		3375	3612 1bfc 8081 ld r24,Z
		3376	3613 .L345:
		3377	3614 1bfe 8093 0000 sts Parameter_Gyro_Gier_P,r24
		3378	3615 1c02 8091 0000 lds r24,EE_Parameter+34
		3379	3616 1c06 883F cpi r24,lo8(-8)
		3380	3617 1c08 00F0 brlo .L346
		3381	3618 1c0a EFEF ldi r30,lo8(255)
		3382	3619 1c0c F0E0 ldi r31,hi8(255)
		3383	3620 1c0e E81B sub r30,r24
		3384	3621 1c10 F109 sbc r31,__zero_reg__
		3385	3622 1c12 E050 subi r30,lo8(-(Poti))
		3386	3623 1c14 F040 sbci r31,hi8(-(Poti))
		3387	3624 1c16 8081 ld r24,Z
		3388	3625 .L346:
		3389	3626 1c18 8093 0000 sts Parameter_Gyro_Gier_I,r24
		3390	3627 1c1c 8091 0000 lds r24,EE_Parameter+40
		3391	3628 1c20 883F cpi r24,lo8(-8)
		3392	3629 1c22 00F0 brlo .L347
		3393	3630 1c24 EFEF ldi r30,lo8(255)
		3394	3631 1c26 F0E0 ldi r31,hi8(255)
		3395	3632 1c28 E81B sub r30,r24
		3396	3633 1c2a F109 sbc r31,__zero_reg__
		3397	3634 1c2c E050 subi r30,lo8(-(Poti))
		3398	3635 1c2e F040 sbci r31,hi8(-(Poti))
		3399	3636 1c30 8081 ld r24,Z
		3400	3637 .L347:
		3401	3638 1c32 8093 0000 sts Parameter_I_Faktor,r24
		3402	3639 1c36 8091 0000 lds r24,EE_Parameter+41
		3403	3640 1c3a 883F cpi r24,lo8(-8)
		3404	3641 1c3c 00F0 brlo .L348
		3405	3642 1c3e EFEF ldi r30,lo8(255)
		3406	3643 1c40 F0E0 ldi r31,hi8(255)
		3407	3644 1c42 E81B sub r30,r24
		3408	3645 1c44 F109 sbc r31,__zero_reg__
		3409	3646 1c46 E050 subi r30,lo8(-(Poti))
		3410	3647 1c48 F040 sbci r31,hi8(-(Poti))
		3411	3648 1c4a 8081 ld r24,Z
		3412	3649 .L348:
		3413	3650 1c4c 8093 0000 sts Parameter_UserParam1,r24
		3414	3651 1c50 8091 0000 lds r24,EE_Parameter+42
		3415	3652 1c54 883F cpi r24,lo8(-8)
		3416	3653 1c56 00F0 brlo .L349
		3417	3654 1c58 EFEF ldi r30,lo8(255)
		3418	3655 1c5a F0E0 ldi r31,hi8(255)
		3419	3656 1c5c E81B sub r30,r24
		3420	3657 1c5e F109 sbc r31,__zero_reg__
		3421	3658 1c60 E050 subi r30,lo8(-(Poti))
		3422	3659 1c62 F040 sbci r31,hi8(-(Poti))
		3423	3660 1c64 8081 ld r24,Z
		3424	3661 .L349:
		3425	3662 1c66 8093 0000 sts Parameter_UserParam2,r24
		3426	3663 1c6a 8091 0000 lds r24,EE_Parameter+43
		3427	3664 1c6e 883F cpi r24,lo8(-8)
		3428	3665 1c70 00F0 brlo .L350
		3429	3666 1c72 EFEF ldi r30,lo8(255)
		3430	3667 1c74 F0E0 ldi r31,hi8(255)
		3431	3668 1c76 E81B sub r30,r24
		3432	3669 1c78 F109 sbc r31,__zero_reg__
		3433	3670 1c7a E050 subi r30,lo8(-(Poti))
		3434	3671 1c7c F040 sbci r31,hi8(-(Poti))
		3435	3672 1c7e 8081 ld r24,Z
		3436	3673 .L350:
		3437	3674 1c80 8093 0000 sts Parameter_UserParam3,r24
		3438	3675 1c84 8091 0000 lds r24,EE_Parameter+44
		3439	3676 1c88 883F cpi r24,lo8(-8)
		3440	3677 1c8a 00F0 brlo .L351
		3441	3678 1c8c EFEF ldi r30,lo8(255)
		3442	3679 1c8e F0E0 ldi r31,hi8(255)
		3443	3680 1c90 E81B sub r30,r24
		3444	3681 1c92 F109 sbc r31,__zero_reg__
		3445	3682 1c94 E050 subi r30,lo8(-(Poti))
		3446	3683 1c96 F040 sbci r31,hi8(-(Poti))
		3447	3684 1c98 8081 ld r24,Z
		3448	3685 .L351:
		3449	3686 1c9a 8093 0000 sts Parameter_UserParam4,r24
		3450	3687 1c9e 8091 0000 lds r24,EE_Parameter+70
		3451	3688 1ca2 883F cpi r24,lo8(-8)
		3452	3689 1ca4 00F0 brlo .L352
		3453	3690 1ca6 EFEF ldi r30,lo8(255)
		3454	3691 1ca8 F0E0 ldi r31,hi8(255)
		3455	3692 1caa E81B sub r30,r24
		3456	3693 1cac F109 sbc r31,__zero_reg__
		3457	3694 1cae E050 subi r30,lo8(-(Poti))
		3458	3695 1cb0 F040 sbci r31,hi8(-(Poti))
		3459	3696 1cb2 8081 ld r24,Z
		3460	3697 .L352:
		3461	3698 1cb4 8093 0000 sts Parameter_UserParam5,r24
		3462	3699 1cb8 8091 0000 lds r24,EE_Parameter+71
		3463	3700 1cbc 883F cpi r24,lo8(-8)
		3464	3701 1cbe 00F0 brlo .L353
		3465	3702 1cc0 EFEF ldi r30,lo8(255)
		3466	3703 1cc2 F0E0 ldi r31,hi8(255)
		3467	3704 1cc4 E81B sub r30,r24
		3468	3705 1cc6 F109 sbc r31,__zero_reg__
		3469	3706 1cc8 E050 subi r30,lo8(-(Poti))
		3470	3707 1cca F040 sbci r31,hi8(-(Poti))
		3471	3708 1ccc 8081 ld r24,Z
		3472	3709 .L353:
		3473	3710 1cce 8093 0000 sts Parameter_UserParam6,r24
		3474	3711 1cd2 8091 0000 lds r24,EE_Parameter+72
		3475	3712 1cd6 883F cpi r24,lo8(-8)
		3476	3713 1cd8 00F0 brlo .L354
		3477	3714 1cda EFEF ldi r30,lo8(255)
		3478	3715 1cdc F0E0 ldi r31,hi8(255)
		3479	3716 1cde E81B sub r30,r24
		3480	3717 1ce0 F109 sbc r31,__zero_reg__
		3481	3718 1ce2 E050 subi r30,lo8(-(Poti))
		3482	3719 1ce4 F040 sbci r31,hi8(-(Poti))
		3483	3720 1ce6 8081 ld r24,Z
		3484	3721 .L354:
		3485	3722 1ce8 8093 0000 sts Parameter_UserParam7,r24
		3486	3723 1cec 8091 0000 lds r24,EE_Parameter+73
		3487	3724 1cf0 883F cpi r24,lo8(-8)
		3488	3725 1cf2 00F0 brlo .L355
		3489	3726 1cf4 EFEF ldi r30,lo8(255)
		3490	3727 1cf6 F0E0 ldi r31,hi8(255)
		3491	3728 1cf8 E81B sub r30,r24
		3492	3729 1cfa F109 sbc r31,__zero_reg__
		3493	3730 1cfc E050 subi r30,lo8(-(Poti))
		3494	3731 1cfe F040 sbci r31,hi8(-(Poti))
		3495	3732 1d00 8081 ld r24,Z
		3496	3733 .L355:
		3497	3734 1d02 8093 0000 sts Parameter_UserParam8,r24
		3498	3735 1d06 8091 0000 lds r24,EE_Parameter+45
		3499	3736 1d0a 883F cpi r24,lo8(-8)
		3500	3737 1d0c 00F0 brlo .L356
		3501	3738 1d0e EFEF ldi r30,lo8(255)
		3502	3739 1d10 F0E0 ldi r31,hi8(255)
		3503	3740 1d12 E81B sub r30,r24
		3504	3741 1d14 F109 sbc r31,__zero_reg__
		3505	3742 1d16 E050 subi r30,lo8(-(Poti))
		3506	3743 1d18 F040 sbci r31,hi8(-(Poti))
		3507	3744 1d1a 8081 ld r24,Z
		3508	3745 .L356:
		3509	3746 1d1c 8093 0000 sts Parameter_ServoNickControl,r24
		3510	3747 1d20 8091 0000 lds r24,EE_Parameter+49
		3511	3748 1d24 883F cpi r24,lo8(-8)
		3512	3749 1d26 00F0 brlo .L357
		3513	3750 1d28 EFEF ldi r30,lo8(255)
		3514	3751 1d2a F0E0 ldi r31,hi8(255)
		3515	3752 1d2c E81B sub r30,r24
		3516	3753 1d2e F109 sbc r31,__zero_reg__
		3517	3754 1d30 E050 subi r30,lo8(-(Poti))
		3518	3755 1d32 F040 sbci r31,hi8(-(Poti))
		3519	3756 1d34 8081 ld r24,Z
		3520	3757 .L357:
		3521	3758 1d36 8093 0000 sts Parameter_ServoRollControl,r24
		3522	3759 1d3a 8091 0000 lds r24,EE_Parameter+46
		3523	3760 1d3e 883F cpi r24,lo8(-8)
		3524	3761 1d40 00F0 brlo .L358
		3525	3762 1d42 EFEF ldi r30,lo8(255)
		3526	3763 1d44 F0E0 ldi r31,hi8(255)
		3527	3764 1d46 E81B sub r30,r24
		3528	3765 1d48 F109 sbc r31,__zero_reg__
		3529	3766 1d4a E050 subi r30,lo8(-(Poti))
		3530	3767 1d4c F040 sbci r31,hi8(-(Poti))
		3531	3768 1d4e 8081 ld r24,Z
		3532	3769 .L358:
		3533	3770 1d50 8093 0000 sts Parameter_ServoNickComp,r24
		3534	3771 1d54 8091 0000 lds r24,EE_Parameter+50
		3535	3772 1d58 883F cpi r24,lo8(-8)
		3536	3773 1d5a 00F0 brlo .L359
		3537	3774 1d5c EFEF ldi r30,lo8(255)
		3538	3775 1d5e F0E0 ldi r31,hi8(255)
		3539	3776 1d60 E81B sub r30,r24
		3540	3777 1d62 F109 sbc r31,__zero_reg__
		3541	3778 1d64 E050 subi r30,lo8(-(Poti))
		3542	3779 1d66 F040 sbci r31,hi8(-(Poti))
		3543	3780 1d68 8081 ld r24,Z
		3544	3781 .L359:
		3545	3782 1d6a 8093 0000 sts Parameter_ServoRollComp,r24
		3546	3783 1d6e 8091 0000 lds r24,EE_Parameter+59
		3547	3784 1d72 883F cpi r24,lo8(-8)
		3548	3785 1d74 00F0 brlo .L360
		3549	3786 1d76 EFEF ldi r30,lo8(255)
		3550	3787 1d78 F0E0 ldi r31,hi8(255)
		3551	3788 1d7a E81B sub r30,r24
		3552	3789 1d7c F109 sbc r31,__zero_reg__
		3553	3790 1d7e E050 subi r30,lo8(-(Poti))
		3554	3791 1d80 F040 sbci r31,hi8(-(Poti))
		3555	3792 1d82 8081 ld r24,Z
		3556	3793 .L360:
		3557	3794 1d84 8093 0000 sts Parameter_LoopGasLimit,r24
		3558	3795 1d88 8091 0000 lds r24,EE_Parameter+62
		3559	3796 1d8c 883F cpi r24,lo8(-8)
		3560	3797 1d8e 00F0 brlo .L361
		3561	3798 1d90 EFEF ldi r30,lo8(255)
		3562	3799 1d92 F0E0 ldi r31,hi8(255)
		3563	3800 1d94 E81B sub r30,r24
		3564	3801 1d96 F109 sbc r31,__zero_reg__
		3565	3802 1d98 E050 subi r30,lo8(-(Poti))
		3566	3803 1d9a F040 sbci r31,hi8(-(Poti))
		3567	3804 1d9c 8081 ld r24,Z
		3568	3805 .L361:
		3569	3806 1d9e 8093 0000 sts Parameter_AchsKopplung1,r24
		3570	3807 1da2 8091 0000 lds r24,EE_Parameter+63
		3571	3808 1da6 883F cpi r24,lo8(-8)
		3572	3809 1da8 00F0 brlo .L362
		3573	3810 1daa EFEF ldi r30,lo8(255)
		3574	3811 1dac F0E0 ldi r31,hi8(255)
		3575	3812 1dae E81B sub r30,r24
		3576	3813 1db0 F109 sbc r31,__zero_reg__
		3577	3814 1db2 E050 subi r30,lo8(-(Poti))
		3578	3815 1db4 F040 sbci r31,hi8(-(Poti))
		3579	3816 1db6 8081 ld r24,Z
		3580	3817 .L362:
		3581	3818 1db8 8093 0000 sts Parameter_AchsKopplung2,r24
		3582	3819 1dbc 8091 0000 lds r24,EE_Parameter+64
		3583	3820 1dc0 883F cpi r24,lo8(-8)
		3584	3821 1dc2 00F0 brlo .L363
		3585	3822 1dc4 EFEF ldi r30,lo8(255)
		3586	3823 1dc6 F0E0 ldi r31,hi8(255)
		3587	3824 1dc8 E81B sub r30,r24
		3588	3825 1dca F109 sbc r31,__zero_reg__
		3589	3826 1dcc E050 subi r30,lo8(-(Poti))
		3590	3827 1dce F040 sbci r31,hi8(-(Poti))
		3591	3828 1dd0 8081 ld r24,Z
		3592	3829 .L363:
		3593	3830 1dd2 8093 0000 sts Parameter_CouplingYawCorrection,r24
		3594	3831 1dd6 8091 0000 lds r24,EE_Parameter+104
		3595	3832 1dda 883F cpi r24,lo8(-8)
		3596	3833 1ddc 00F0 brlo .L364
		3597	3834 1dde EFEF ldi r30,lo8(255)
		3598	3835 1de0 F0E0 ldi r31,hi8(255)
		3599	3836 1de2 E81B sub r30,r24
		3600	3837 1de4 F109 sbc r31,__zero_reg__
		3601	3838 1de6 E050 subi r30,lo8(-(Poti))
		3602	3839 1de8 F040 sbci r31,hi8(-(Poti))
		3603	3840 1dea 8081 ld r24,Z
		3604	3841 .L364:
		3605	3842 1dec 8093 0000 sts Parameter_MaximumAltitude,r24
		3606	3843 1df0 9091 0000 lds r25,NC_To_FC_MaxAltitude
		3607	3844 1df4 9923 tst r25
		3608	3845 1df6 01F0 breq .L305
		3609	3846 1df8 8091 0000 lds r24,Parameter_MaximumAltitude
		3610	3847 1dfc 9817 cp r25,r24
		3611	3848 1dfe 00F0 brlo .L304
		3612	3849 .L305:
		3613	3850 1e00 8091 0000 lds r24,Parameter_MaximumAltitude
		3614	3851 1e04 8823 tst r24
		3615	3852 1e06 01F4 brne .L303
		3616	3853 .L304:
		3617	3854 1e08 9093 0000 sts Parameter_MaximumAltitude,r25
		3618	3855 .L303:
		3619	3856 1e0c 8091 0000 lds r24,EE_Parameter+13
		3620	3857 1e10 8093 0000 sts Parameter_GlobalConfig,r24
		3621	3858 1e14 8091 0000 lds r24,EE_Parameter+110
		3622	3859 1e18 8093 0000 sts Parameter_ExtraConfig,r24
		3623	3860 1e1c 8091 0000 lds r24,EE_Parameter+69
		3624	3861 1e20 883F cpi r24,lo8(-8)
		3625	3862 1e22 00F0 brlo .L365
		3626	3863 1e24 EFEF ldi r30,lo8(255)
		3627	3864 1e26 F0E0 ldi r31,hi8(255)
		3628	3865 1e28 E81B sub r30,r24
		3629	3866 1e2a F109 sbc r31,__zero_reg__
		3630	3867 1e2c E050 subi r30,lo8(-(Poti))
		3631	3868 1e2e F040 sbci r31,hi8(-(Poti))
		3632	3869 1e30 8081 ld r24,Z
		3633	3870 .L365:
		3634	3871 1e32 8093 0000 sts Parameter_DynamicStability,r24
		3635	3872 1e36 8091 0000 lds r24,EE_Parameter+97
		3636	3873 1e3a 883F cpi r24,lo8(-8)
		3637	3874 1e3c 00F0 brlo .L366
		3638	3875 1e3e EFEF ldi r30,lo8(255)
		3639	3876 1e40 F0E0 ldi r31,hi8(255)
		3640	3877 1e42 E81B sub r30,r24
		3641	3878 1e44 F109 sbc r31,__zero_reg__
		3642	3879 1e46 E050 subi r30,lo8(-(Poti))
		3643	3880 1e48 F040 sbci r31,hi8(-(Poti))
		3644	3881 1e4a 8081 ld r24,Z
		3645	3882 .L366:
		3646	3883 1e4c 8093 0000 sts Parameter_ExternalControl,r24
		3647	3884 1e50 8091 0000 lds r24,Parameter_I_Faktor
		3648	3885 1e54 282F mov r18,r24
		3649	3886 1e56 3327 clr r19
		3650	3887 1e58 2F5F subi r18,lo8(-(1))
		3651	3888 1e5a 3F4F sbci r19,hi8(-(1))
		3652	3889 1e5c 8CE3 ldi r24,lo8(10300)
		3653	3890 1e5e 98E2 ldi r25,hi8(10300)
		3654	3891 1e60 B901 movw r22,r18
		3655	3892 1e62 0E94 0000 call __divmodhi4
		3656	3893 1e66 7093 0000 sts (Ki)+1,r23
		3657	3894 1e6a 6093 0000 sts Ki,r22
		3658	3895 1e6e 8091 0000 lds r24,EE_Parameter+27
		3659	3896 1e72 8093 0000 sts MAX_GAS,r24
		3660	3897 1e76 8091 0000 lds r24,EE_Parameter+26
		3661	3898 1e7a 8093 0000 sts MIN_GAS,r24
		3662	3899 1e7e 9091 0000 lds r25,EE_Parameter+99
		3663	3900 1e82 9333 cpi r25,lo8(51)
		3664	3901 1e84 00F4 brsh .+2
		3665	3902 1e86 00C0 rjmp .L310
		3666	3903 1e88 81E0 ldi r24,lo8(1)
		3667	3904 1e8a 8093 0000 sts CareFree,r24
		3668	3905 1e8e 983F cpi r25,lo8(-8)
		3669	3906 1e90 00F0 brlo .L311
		3670	3907 1e92 EFEF ldi r30,lo8(255)
		3671	3908 1e94 F0E0 ldi r31,hi8(255)
		3672	3909 1e96 E91B sub r30,r25
		3673	3910 1e98 F109 sbc r31,__zero_reg__
		3674	3911 1e9a E050 subi r30,lo8(-(Poti))
		3675	3912 1e9c F040 sbci r31,hi8(-(Poti))
		3676	3913 1e9e 8081 ld r24,Z
		3677	3914 1ea0 8233 cpi r24,lo8(50)
		3678	3915 1ea2 00F4 brsh .L311
		3679	3916 1ea4 1092 0000 sts CareFree,__zero_reg__
		3680	3917 .L311:
		3681	3918 1ea8 8091 0000 lds r24,carefree_old
		3682	3919 1eac 2091 0000 lds r18,CareFree
		3683	3920 1eb0 8217 cp r24,r18
		3684	3921 1eb2 01F0 breq .L312
		3685	3922 1eb4 8330 cpi r24,lo8(3)
		3686	3923 1eb6 00F4 brsh .L313
		3687	3924 1eb8 3091 0000 lds r19,SpeakHoTT
		3688	3925 1ebc 2223 tst r18
		3689	3926 1ebe 01F0 breq .L314
		3690	3927 1ec0 8CED ldi r24,lo8(1500)
		3691	3928 1ec2 95E0 ldi r25,hi8(1500)
		3692	3929 1ec4 9093 0000 sts (beeptime)+1,r25
		3693	3930 1ec8 8093 0000 sts beeptime,r24
		3694	3931 1ecc 3323 tst r19
		3695	3932 1ece 01F4 brne .L316
		3696	3933 1ed0 8EE2 ldi r24,lo8(46)
		3697	3934 1ed2 00C0 rjmp .L367
		3698	3935 .L314:
		3699	3936 1ed4 88EC ldi r24,lo8(200)
		3700	3937 1ed6 90E0 ldi r25,hi8(200)
		3701	3938 1ed8 9093 0000 sts (beeptime)+1,r25
		3702	3939 1edc 8093 0000 sts beeptime,r24
		3703	3940 1ee0 3323 tst r19
		3704	3941 1ee2 01F4 brne .L316
		3705	3942 1ee4 87E1 ldi r24,lo8(23)
		3706	3943 .L367:
		3707	3944 1ee6 8093 0000 sts SpeakHoTT,r24
		3708	3945 .L316:
		3709	3946 1eea 85E0 ldi r24,lo8(5)
		3710	3947 1eec 8093 0000 sts NeueKompassRichtungMerken,r24
		3711	3948 1ef0 2093 0000 sts carefree_old,r18
		3712	3949 1ef4 00C0 rjmp .L312
		3713	3950 .L313:
		3714	3951 1ef6 8150 subi r24,lo8(-(-1))
		3715	3952 1ef8 8093 0000 sts carefree_old,r24
		3716	3953 .L312:
		3717	3954 1efc 8091 0000 lds r24,FromNaviCtrl+7
		3718	3955 1f00 9091 0000 lds r25,(FromNaviCtrl+7)+1
		3719	3956 1f04 97FF sbrs r25,7
		3720	3957 1f06 00C0 rjmp .L320
		3721	3958 1f08 8091 0000 lds r24,CareFree
		3722	3959 1f0c 8823 tst r24
		3723	3960 1f0e 01F0 breq .L320
		3724	3961 1f10 8091 0000 lds r24,VersionInfo+5
		3725	3962 1f14 8068 ori r24,lo8(-128)
		3726	3963 1f16 8093 0000 sts VersionInfo+5,r24
		3727	3964 1f1a 00C0 rjmp .L320
		3728	3965 .L310:
		3729	3966 1f1c 1092 0000 sts CareFree,__zero_reg__
		3730	3967 1f20 8AE0 ldi r24,lo8(10)
		3731	3968 1f22 8093 0000 sts carefree_old,r24
		3732	3969 .L320:
		3733	3970 1f26 8091 0000 lds r24,FromNaviCtrl+7
		3734	3971 1f2a 9091 0000 lds r25,(FromNaviCtrl+7)+1
		3735	3972 1f2e 97FF sbrs r25,7
		3736	3973 1f30 00C0 rjmp .L321
		3737	3974 1f32 8091 0000 lds r24,MotorenEin
		3738	3975 1f36 8823 tst r24
		3739	3976 1f38 01F0 breq .L321
		3740	3977 1f3a 8091 0000 lds r24,CareFree
		3741	3978 1f3e 8823 tst r24
		3742	3979 1f40 01F0 breq .L321
		3743	3980 1f42 8091 0000 lds r24,BeepMuster
		3744	3981 1f46 9091 0000 lds r25,(BeepMuster)+1
		3745	3982 1f4a 8F5F subi r24,lo8(-1)
		3746	3983 1f4c 9F4F sbci r25,hi8(-1)
		3747	3984 1f4e 01F4 brne .L321
		3748	3985 1f50 88E9 ldi r24,lo8(15000)
		3749	3986 1f52 9AE3 ldi r25,hi8(15000)
		3750	3987 1f54 9093 0000 sts (beeptime)+1,r25
		3751	3988 1f58 8093 0000 sts beeptime,r24
		3752	3989 1f5c 80E0 ldi r24,lo8(-23552)
		3753	3990 1f5e 94EA ldi r25,hi8(-23552)
		3754	3991 1f60 9093 0000 sts (BeepMuster)+1,r25
		3755	3992 1f64 8093 0000 sts BeepMuster,r24
		3756	3993 1f68 1092 0000 sts CareFree,__zero_reg__
		3757	3994 .L321:
		3758	3995 1f6c 8091 0000 lds r24,CareFree
		3759	3996 1f70 8823 tst r24
		3760	3997 1f72 01F0 breq .L322
		3761	3998 1f74 8091 0000 lds r24,FC_StatusFlags2
		3762	3999 1f78 8160 ori r24,lo8(1)
		3763	4000 1f7a 8093 0000 sts FC_StatusFlags2,r24
		3764	4001 1f7e 8091 0000 lds r24,Parameter_AchsKopplung1
		3765	4002 1f82 823D cpi r24,lo8(-46)
		3766	4003 1f84 00F4 brsh .L190
		3767	4004 1f86 825E subi r24,lo8(-(30))
		3768	4005 1f88 8093 0000 sts Parameter_AchsKopplung1,r24
		3769	4006 1f8c 00C0 rjmp .L190
		3770	4007 .L322:
		3771	4008 1f8e 8091 0000 lds r24,FC_StatusFlags2
		3772	4009 1f92 8E7F andi r24,lo8(-2)
		3773	4010 1f94 8093 0000 sts FC_StatusFlags2,r24
		3774	4011 .L190:
		3775	4012 /* epilogue: frame size=0 */
		3776	4013 1f98 DF91 pop r29
		3777	4014 1f9a CF91 pop r28
		3778	4015 1f9c 0895 ret
		3779	4016 /* epilogue end (size=3) */
		3780	4017 /* function ParameterZuordnung size 798 (793) */
		3781	4019 .lcomm sollGier.0,4
		3782	4020 .lcomm tmp_long.1,4
		3783	4021 .lcomm tmp_long2.2,4
		3784	4022 .lcomm IntegralFehlerNick.3,4
		3785	4023 .lcomm IntegralFehlerRoll.4,4
		3786	4024 .lcomm RcLostTimer.5,2
		3787	4025 .lcomm delay_neutral.6,1
		3788	4026 .lcomm delay_einschalten.7,1
		3789	4027 .lcomm delay_ausschalten.8,1
		3790	4028 .lcomm move_safety_switch.9,1
		3791	4029 .lcomm ausgleichNick.10,4
		3792	4030 .lcomm ausgleichRoll.11,4
		3793	4031 .lcomm stick_nick.12,2
		3794	4032 .lcomm stick_roll.13,2
		3795	4033 .lcomm cnt.14,2
		3796	4034 .lcomm last_n_p.15,1
		3797	4035 .lcomm last_n_n.16,1
		3798	4036 .lcomm last_r_p.17,1
		3799	4037 .lcomm last_r_n.18,1
		3800	4038 .lcomm MittelIntegralNick_Alt.19,4
		3801	4039 .lcomm MittelIntegralRoll_Alt.20,4
		3802	4040 .lcomm HeightTrimming.21,2
		3803	4041 .lcomm FilterHCGas.22,2
		3804	4042 .lcomm HoverGasFilter.23,4
		3805	4043 .data
		3806	4046 delay.24:
		3807	4047 0051 64 .byte 100
		3808	4048 .lcomm BaroAtUpperLimit.25,1
		3809	4049 .lcomm BaroAtLowerLimit.26,1
		3810	4050 .text
		3811	4051 .global MotorRegler
		3812	4053 MotorRegler:
		3813	4054 /* prologue: frame size=23 */
		3814	4055 1f9e A7E1 ldi r26,lo8(23)
		3815	4056 1fa0 B0E0 ldi r27,hi8(23)
		3816	4057 1fa2 E0E0 ldi r30,pm_lo8(1f)
		3817	4058 1fa4 F0E0 ldi r31,pm_hi8(1f)
		3818	4059 1fa6 0C94 0000 jmp __prologue_saves__+0
		3819	4060 1:
		3820	4061 /* prologue end (size=6) */
		3821	4062 1faa 0E94 0000 call Mittelwert
		3822	4063 1fae 8091 0000 lds r24,FC_StatusFlags
		3823	4064 1fb2 9927 clr r25
		3824	4065 1fb4 8471 andi r24,lo8(20)
		3825	4066 1fb6 9070 andi r25,hi8(20)
		3826	4067 1fb8 892B or r24,r25
		3827	4068 1fba 01F4 brne .L371
		3828	4069 1fbc 8091 0000 lds r24,EE_Parameter+111
		3829	4070 1fc0 82FF sbrs r24,2
		3830	4071 1fc2 00C0 rjmp .L372
		3831	4072 1fc4 8091 0000 lds r24,HoverGas
		3832	4073 1fc8 9091 0000 lds r25,(HoverGas)+1
		3833	4074 1fcc 0097 sbiw r24,0
		3834	4075 1fce 01F0 breq .L373
		3835	4076 1fd0 02E0 ldi r16,hi8(600)
		3836	4077 1fd2 8835 cpi r24,lo8(600)
		3837	4078 1fd4 9007 cpc r25,r16
		3838	4079 1fd6 04F4 brge .L373
		3839	4080 1fd8 9C01 movw r18,r24
		3840	4081 1fda 97FF sbrs r25,7
		3841	4082 1fdc 00C0 rjmp .L374
		3842	4083 1fde 2D5F subi r18,lo8(-(3))
		3843	4084 1fe0 3F4F sbci r19,hi8(-(3))
		3844	4085 .L374:
		3845	4086 1fe2 3595 asr r19
		3846	4087 1fe4 2795 ror r18
		3847	4088 1fe6 3595 asr r19
		3848	4089 1fe8 2795 ror r18
		3849	4090 1fea 8091 0000 lds r24,EE_Parameter+37
		3850	4091 1fee 9927 clr r25
		3851	4092 1ff0 289F mul r18,r24
		3852	4093 1ff2 A001 movw r20,r0
		3853	4094 1ff4 299F mul r18,r25
		3854	4095 1ff6 500D add r21,r0
		3855	4096 1ff8 389F mul r19,r24
		3856	4097 1ffa 500D add r21,r0
		3857	4098 1ffc 1124 clr r1
		3858	4099 1ffe CA01 movw r24,r20
		3859	4100 2000 64E6 ldi r22,lo8(100)
		3860	4101 2002 70E0 ldi r23,hi8(100)
		3861	4102 2004 0E94 0000 call __divmodhi4
		3862	4103 2008 CB01 movw r24,r22
		3863	4104 200a 00C0 rjmp .L893
		3864	4105 .L373:
		3865	4106 200c 8DE2 ldi r24,lo8(45)
		3866	4107 200e 90E0 ldi r25,hi8(45)
		3867	4108 2010 00C0 rjmp .L893
		3868	4109 .L372:
		3869	4110 2012 8091 0000 lds r24,EE_Parameter+37
		3870	4111 2016 9927 clr r25
		3871	4112 .L893:
		3872	4113 2018 9093 0000 sts (HooverGasEmergencyPercent)+1,r25
		3873	4114 201c 8093 0000 sts HooverGasEmergencyPercent,r24
		3874	4115 .L371:
		3875	4116 2020 2091 0000 lds r18,GasIsZeroCnt
		3876	4117 2024 3091 0000 lds r19,(GasIsZeroCnt)+1
		3877	4118 2028 55E7 ldi r21,hi8(30000)
		3878	4119 202a 2033 cpi r18,lo8(30000)
		3879	4120 202c 3507 cpc r19,r21
		3880	4121 202e 01F4 brne .L377
		3881	4122 2030 1092 0000 sts (StickGas)+1,__zero_reg__
		3882	4123 2034 1092 0000 sts StickGas,__zero_reg__
		3883	4124 2038 8091 0000 lds r24,MIN_GAS
		3884	4125 203c 9927 clr r25
		3885	4126 203e 9093 0000 sts (HooverGasEmergencyPercent)+1,r25
		3886	4127 2042 8093 0000 sts HooverGasEmergencyPercent,r24
		3887	4128 .L377:
		3888	4129 2046 6091 0000 lds r22,StickGas
		3889	4130 204a 7091 0000 lds r23,(StickGas)+1
		3890	4131 204e 7A83 std Y+2,r23
		3891	4132 2050 6983 std Y+1,r22
		3892	4133 2052 8091 0000 lds r24,MIN_GAS
		3893	4134 2056 9927 clr r25
		3894	4135 2058 0A96 adiw r24,10
		3895	4136 205a 6817 cp r22,r24
		3896	4137 205c 7907 cpc r23,r25
		3897	4138 205e 04F4 brge .L378
		3898	4139 2060 9A83 std Y+2,r25
		3899	4140 2062 8983 std Y+1,r24
		3900	4141 .L378:
		3901	4142 2064 8091 0000 lds r24,SenderOkay
		3902	4143 2068 8436 cpi r24,lo8(100)
		3903	4144 206a 00F0 brlo .+2
		3904	4145 206c 00C0 rjmp .L379
		3905	4146 206e 8091 0000 lds r24,FC_StatusFlags2
		3906	4147 2072 82FD sbrc r24,2
		3907	4148 2074 00C0 rjmp .L379
		3908	4149 2076 8091 0000 lds r24,RcLostTimer.5
		3909	4150 207a 9091 0000 lds r25,(RcLostTimer.5)+1
		3910	4151 207e 0097 sbiw r24,0
		3911	4152 2080 01F0 breq .L380
		3912	4153 2082 0197 sbiw r24,1
		3913	4154 2084 9093 0000 sts (RcLostTimer.5)+1,r25
		3914	4155 2088 8093 0000 sts RcLostTimer.5,r24
		3915	4156 208c 00C0 rjmp .L381
		3916	4157 .L380:
		3917	4158 208e 1092 0000 sts MotorenEin,__zero_reg__
		3918	4159 2092 9093 0000 sts (modell_fliegt)+1,r25
		3919	4160 2096 8093 0000 sts modell_fliegt,r24
		3920	4161 209a 8091 0000 lds r24,FC_StatusFlags
		3921	4162 209e 8D7E andi r24,lo8(-19)
		3922	4163 20a0 8093 0000 sts FC_StatusFlags,r24
		3923	4164 .L381:
		3924	4165 20a4 8091 0000 lds r24,PlatinenVersion
		3925	4166 20a8 8A30 cpi r24,lo8(10)
		3926	4167 20aa 01F0 breq .L383
		3927	4168 20ac 8431 cpi r24,lo8(20)
		3928	4169 20ae 00F0 brlo .L382
		3929	4170 .L383:
		3930	4171 20b0 289A sbi 37-0x20,0
		3931	4172 20b2 00C0 rjmp .L384
		3932	4173 .L382:
		3933	4174 20b4 2898 cbi 37-0x20,0
		3934	4175 .L384:
		3935	4176 20b6 8091 0000 lds r24,modell_fliegt
		3936	4177 20ba 9091 0000 lds r25,(modell_fliegt)+1
		3937	4178 20be 895E subi r24,lo8(1001)
		3938	4179 20c0 9340 sbci r25,hi8(1001)
		3939	4180 20c2 00F0 brlo .L385
		3940	4181 20c4 8091 0000 lds r24,Capacity+6
		3941	4182 20c8 8536 cpi r24,lo8(101)
		3942	4183 20ca 00F0 brlo .L385
		3943	4184 20cc 8091 0000 lds r24,HooverGasEmergencyPercent
		3944	4185 20d0 9091 0000 lds r25,(HooverGasEmergencyPercent)+1
		3945	4186 20d4 9A83 std Y+2,r25
		3946	4187 20d6 8983 std Y+1,r24
		3947	4188 20d8 8091 0000 lds r24,FC_StatusFlags
		3948	4189 20dc 8061 ori r24,lo8(16)
		3949	4190 20de 8093 0000 sts FC_StatusFlags,r24
		3950	4191 20e2 8091 0000 lds r24,EE_Parameter+1
		3951	4192 20e6 A82F mov r26,r24
		3952	4193 20e8 BB27 clr r27
		3953	4194 20ea AA0F add r26,r26
		3954	4195 20ec BB1F adc r27,r27
		3955	4196 20ee FD01 movw r30,r26
		3956	4197 20f0 E050 subi r30,lo8(-(PPM_diff))
		3957	4198 20f2 F040 sbci r31,hi8(-(PPM_diff))
		3958	4199 20f4 1182 std Z+1,__zero_reg__
		3959	4200 20f6 1082 st Z,__zero_reg__
		3960	4201 20f8 8091 0000 lds r24,EE_Parameter+2
		3961	4202 20fc 282F mov r18,r24
		3962	4203 20fe 3327 clr r19
		3963	4204 2100 220F add r18,r18
		3964	4205 2102 331F adc r19,r19
		3965	4206 2104 C901 movw r24,r18
		3966	4207 2106 8050 subi r24,lo8(-(PPM_diff))
		3967	4208 2108 9040 sbci r25,hi8(-(PPM_diff))
		3968	4209 210a FC01 movw r30,r24
		3969	4210 210c 1182 std Z+1,__zero_reg__
		3970	4211 210e 1082 st Z,__zero_reg__
		3971	4212 2110 A050 subi r26,lo8(-(PPM_in))
		3972	4213 2112 B040 sbci r27,hi8(-(PPM_in))
		3973	4214 2114 1196 adiw r26,1
		3974	4215 2116 1C92 st X,__zero_reg__
		3975	4216 2118 1E92 st -X,__zero_reg__
		3976	4217 211a 2050 subi r18,lo8(-(PPM_in))
		3977	4218 211c 3040 sbci r19,hi8(-(PPM_in))
		3978	4219 211e D901 movw r26,r18
		3979	4220 2120 1196 adiw r26,1
		3980	4221 2122 1C92 st X,__zero_reg__
		3981	4222 2124 1E92 st -X,__zero_reg__
		3982	4223 2126 8091 0000 lds r24,EE_Parameter+4
		3983	4224 212a E82F mov r30,r24
		3984	4225 212c FF27 clr r31
		3985	4226 212e EE0F add r30,r30
		3986	4227 2130 FF1F adc r31,r31
		3987	4228 2132 E050 subi r30,lo8(-(PPM_in))
		3988	4229 2134 F040 sbci r31,hi8(-(PPM_in))
		3989	4230 2136 1182 std Z+1,__zero_reg__
		3990	4231 2138 1082 st Z,__zero_reg__
		3991	4232 213a 00C0 rjmp .L387
		3992	4233 .L385:
		3993	4234 213c 1092 0000 sts MotorenEin,__zero_reg__
		3994	4235 2140 00C0 rjmp .L387
		3995	4236 .L379:
		3996	4237 2142 8091 0000 lds r24,SenderOkay
		3997	4238 2146 8D38 cpi r24,lo8(-115)
		3998	4239 2148 00F4 brsh .+2
		3999	4240 214a 00C0 rjmp .L388
		4000	4241 214c 8091 0000 lds r24,FC_StatusFlags
		4001	4242 2150 8F7E andi r24,lo8(-17)
		4002	4243 2152 8093 0000 sts FC_StatusFlags,r24
		4003	4244 2156 9091 0000 lds r25,EE_Parameter+38
		4004	4245 215a 82E3 ldi r24,lo8(50)
		4005	4246 215c 989F mul r25,r24
		4006	4247 215e C001 movw r24,r0
		4007	4248 2160 1124 clr r1
		4008	4249 2162 9093 0000 sts (RcLostTimer.5)+1,r25
		4009	4250 2166 8093 0000 sts RcLostTimer.5,r24
		4010	4251 216a E981 ldd r30,Y+1
		4011	4252 216c FA81 ldd r31,Y+2
		4012	4253 216e B997 sbiw r30,41
		4013	4254 2170 04F0 brlt .L389
		4014	4255 2172 8091 0000 lds r24,MotorenEin
		4015	4256 2176 8823 tst r24
		4016	4257 2178 01F0 breq .L389
		4017	4258 217a 8091 0000 lds r24,modell_fliegt
		4018	4259 217e 9091 0000 lds r25,(modell_fliegt)+1
		4019	4260 2182 FFEF ldi r31,hi8(-1)
		4020	4261 2184 8F3F cpi r24,lo8(-1)
		4021	4262 2186 9F07 cpc r25,r31
		4022	4263 2188 01F0 breq .L389
		4023	4264 218a 0196 adiw r24,1
		4024	4265 218c 9093 0000 sts (modell_fliegt)+1,r25
		4025	4266 2190 8093 0000 sts modell_fliegt,r24
		4026	4267 .L389:
		4027	4268 2194 8091 0000 lds r24,modell_fliegt
		4028	4269 2198 9091 0000 lds r25,(modell_fliegt)+1
		4029	4270 219c 8F3F cpi r24,255
		4030	4271 219e 9105 cpc r25,__zero_reg__
		4031	4272 21a0 01F0 breq .+2
		4032	4273 21a2 00F4 brsh .L391
		4033	4274 21a4 1092 0000 sts SummeNick,__zero_reg__
		4034	4275 21a8 1092 0000 sts (SummeNick)+1,__zero_reg__
		4035	4276 21ac 1092 0000 sts (SummeNick)+2,__zero_reg__
		4036	4277 21b0 1092 0000 sts (SummeNick)+3,__zero_reg__
		4037	4278 21b4 1092 0000 sts SummeRoll,__zero_reg__
		4038	4279 21b8 1092 0000 sts (SummeRoll)+1,__zero_reg__
		4039	4280 21bc 1092 0000 sts (SummeRoll)+2,__zero_reg__
		4040	4281 21c0 1092 0000 sts (SummeRoll)+3,__zero_reg__
		4041	4282 21c4 1092 0000 sts sollGier.0,__zero_reg__
		4042	4283 21c8 1092 0000 sts (sollGier.0)+1,__zero_reg__
		4043	4284 21cc 1092 0000 sts (sollGier.0)+2,__zero_reg__
		4044	4285 21d0 1092 0000 sts (sollGier.0)+3,__zero_reg__
		4045	4286 21d4 1092 0000 sts Mess_Integral_Gier,__zero_reg__
		4046	4287 21d8 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__
		4047	4288 21dc 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__
		4048	4289 21e0 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__
		4049	4290 21e4 00C0 rjmp .L392
		4050	4291 .L391:
		4051	4292 21e6 8091 0000 lds r24,FC_StatusFlags
		4052	4293 21ea 8260 ori r24,lo8(2)
		4053	4294 21ec 8093 0000 sts FC_StatusFlags,r24
		4054	4295 .L392:
		4055	4296 21f0 8091 0000 lds r24,EE_Parameter+3
		4056	4297 21f4 E82F mov r30,r24
		4057	4298 21f6 FF27 clr r31
		4058	4299 21f8 EE0F add r30,r30
		4059	4300 21fa FF1F adc r31,r31
		4060	4301 21fc E050 subi r30,lo8(-(PPM_in))
		4061	4302 21fe F040 sbci r31,hi8(-(PPM_in))
		4062	4303 2200 8081 ld r24,Z
		4063	4304 2202 9181 ldd r25,Z+1
		4064	4305 2204 8135 cpi r24,81
		4065	4306 2206 9105 cpc r25,__zero_reg__
		4066	4307 2208 04F4 brge .+2
		4067	4308 220a 00C0 rjmp .L393
		4068	4309 220c 2091 0000 lds r18,MotorenEin
		4069	4310 2210 2223 tst r18
		4070	4311 2212 01F0 breq .+2
		4071	4312 2214 00C0 rjmp .L393
		4072	4313 2216 8091 0000 lds r24,EE_Parameter+4
		4073	4314 221a E82F mov r30,r24
		4074	4315 221c FF27 clr r31
		4075	4316 221e EE0F add r30,r30
		4076	4317 2220 FF1F adc r31,r31
		4077	4318 2222 E050 subi r30,lo8(-(PPM_in))
		4078	4319 2224 F040 sbci r31,hi8(-(PPM_in))
		4079	4320 2226 8081 ld r24,Z
		4080	4321 2228 9181 ldd r25,Z+1
		4081	4322 222a 8C34 cpi r24,76
		4082	4323 222c 9105 cpc r25,__zero_reg__
		4083	4324 222e 04F4 brge .+2
		4084	4325 2230 00C0 rjmp .L394
		4085	4326 2232 8091 0000 lds r24,delay_neutral.6
		4086	4327 2236 8F5F subi r24,lo8(-(1))
		4087	4328 2238 8093 0000 sts delay_neutral.6,r24
		4088	4329 223c 893C cpi r24,lo8(-55)
		4089	4330 223e 00F4 brsh .+2
		4090	4331 2240 00C0 rjmp .L393
		4091	4332 2242 2093 0000 sts delay_neutral.6,r18
		4092	4333 2246 1092 0000 sts (modell_fliegt)+1,__zero_reg__
		4093	4334 224a 1092 0000 sts modell_fliegt,__zero_reg__
		4094	4335 224e 3091 0000 lds r19,EE_Parameter+1
		4095	4336 2252 E32F mov r30,r19
		4096	4337 2254 FF27 clr r31
		4097	4338 2256 EE0F add r30,r30
		4098	4339 2258 FF1F adc r31,r31
		4099	4340 225a E050 subi r30,lo8(-(PPM_in))
		4100	4341 225c F040 sbci r31,hi8(-(PPM_in))
		4101	4342 225e 8081 ld r24,Z
		4102	4343 2260 9181 ldd r25,Z+1
		4103	4344 2262 8734 cpi r24,71
		4104	4345 2264 9105 cpc r25,__zero_reg__
		4105	4346 2266 04F4 brge .L397
		4106	4347 2268 8091 0000 lds r24,EE_Parameter+2
		4107	4348 226c E82F mov r30,r24
		4108	4349 226e FF27 clr r31
		4109	4350 2270 EE0F add r30,r30
		4110	4351 2272 FF1F adc r31,r31
		4111	4352 2274 E050 subi r30,lo8(-(PPM_in))
		4112	4353 2276 F040 sbci r31,hi8(-(PPM_in))
		4113	4354 2278 8081 ld r24,Z
		4114	4355 227a 9181 ldd r25,Z+1
		4115	4356 227c 0190 ld __tmp_reg__,Z+
		4116	4357 227e F081 ld r31,Z
		4117	4358 2280 E02D mov r30,__tmp_reg__
		4118	4359 2282 F7FF sbrs r31,7
		4119	4360 2284 00C0 rjmp .L398
		4120	4361 2286 F095 com r31
		4121	4362 2288 E195 neg r30
		4122	4363 228a FF4F sbci r31,lo8(-1)
		4123	4364 .L398:
		4124	4365 228c E734 cpi r30,71
		4125	4366 228e F105 cpc r31,__zero_reg__
		4126	4367 2290 04F4 brge .+2
		4127	4368 2292 00C0 rjmp .L396
		4128	4369 .L397:
		4129	4370 2294 41E0 ldi r20,lo8(1)
		4130	4371 2296 2091 0000 lds r18,EE_Parameter+2
		4131	4372 229a A22F mov r26,r18
		4132	4373 229c BB27 clr r27
		4133	4374 229e AA0F add r26,r26
		4134	4375 22a0 BB1F adc r27,r27
		4135	4376 22a2 A050 subi r26,lo8(-(PPM_in))
		4136	4377 22a4 B040 sbci r27,hi8(-(PPM_in))
		4137	4378 22a6 8D91 ld r24,X+
		4138	4379 22a8 9C91 ld r25,X
		4139	4380 22aa 1197 sbiw r26,1
		4140	4381 22ac 8734 cpi r24,71
		4141	4382 22ae 9105 cpc r25,__zero_reg__
		4142	4383 22b0 04F0 brlt .L399
		4143	4384 22b2 E32F mov r30,r19
		4144	4385 22b4 FF27 clr r31
		4145	4386 22b6 EE0F add r30,r30
		4146	4387 22b8 FF1F adc r31,r31
		4147	4388 22ba E050 subi r30,lo8(-(PPM_in))
		4148	4389 22bc F040 sbci r31,hi8(-(PPM_in))
		4149	4390 22be 8081 ld r24,Z
		4150	4391 22c0 9181 ldd r25,Z+1
		4151	4392 .L399:
		4152	4393 22c2 8D91 ld r24,X+
		4153	4394 22c4 9C91 ld r25,X
		4154	4395 22c6 8734 cpi r24,71
		4155	4396 22c8 9105 cpc r25,__zero_reg__
		4156	4397 22ca 04F0 brlt .L400
		4157	4398 22cc 8091 0000 lds r24,EE_Parameter+1
		4158	4399 22d0 E82F mov r30,r24
		4159	4400 22d2 FF27 clr r31
		4160	4401 22d4 EE0F add r30,r30
		4161	4402 22d6 FF1F adc r31,r31
		4162	4403 22d8 E050 subi r30,lo8(-(PPM_in))
		4163	4404 22da F040 sbci r31,hi8(-(PPM_in))
		4164	4405 22dc 8081 ld r24,Z
		4165	4406 22de 9181 ldd r25,Z+1
		4166	4407 22e0 8734 cpi r24,71
		4167	4408 22e2 9105 cpc r25,__zero_reg__
		4168	4409 22e4 04F0 brlt .L400
		4169	4410 22e6 42E0 ldi r20,lo8(2)
		4170	4411 .L400:
		4171	4412 22e8 E22F mov r30,r18
		4172	4413 22ea FF27 clr r31
		4173	4414 22ec EE0F add r30,r30
		4174	4415 22ee FF1F adc r31,r31
		4175	4416 22f0 E050 subi r30,lo8(-(PPM_in))
		4176	4417 22f2 F040 sbci r31,hi8(-(PPM_in))
		4177	4418 22f4 8081 ld r24,Z
		4178	4419 22f6 9181 ldd r25,Z+1
		4179	4420 22f8 8634 cpi r24,70
		4180	4421 22fa 9105 cpc r25,__zero_reg__
		4181	4422 22fc 04F4 brge .L401
		4182	4423 22fe 8091 0000 lds r24,EE_Parameter+1
		4183	4424 2302 E82F mov r30,r24
		4184	4425 2304 FF27 clr r31
		4185	4426 2306 EE0F add r30,r30
		4186	4427 2308 FF1F adc r31,r31
		4187	4428 230a E050 subi r30,lo8(-(PPM_in))
		4188	4429 230c F040 sbci r31,hi8(-(PPM_in))
		4189	4430 230e 8081 ld r24,Z
		4190	4431 2310 9181 ldd r25,Z+1
		4191	4432 2312 8734 cpi r24,71
		4192	4433 2314 9105 cpc r25,__zero_reg__
		4193	4434 2316 04F0 brlt .L401
		4194	4435 2318 43E0 ldi r20,lo8(3)
		4195	4436 .L401:
		4196	4437 231a E22F mov r30,r18
		4197	4438 231c FF27 clr r31
		4198	4439 231e EE0F add r30,r30
		4199	4440 2320 FF1F adc r31,r31
		4200	4441 2322 E050 subi r30,lo8(-(PPM_in))
		4201	4442 2324 F040 sbci r31,hi8(-(PPM_in))
		4202	4443 2326 8081 ld r24,Z
		4203	4444 2328 9181 ldd r25,Z+1
		4204	4445 232a 8A5B subi r24,lo8(-70)
		4205	4446 232c 9F4F sbci r25,hi8(-70)
		4206	4447 232e 04F4 brge .L402
		4207	4448 2330 8091 0000 lds r24,EE_Parameter+1
		4208	4449 2334 E82F mov r30,r24
		4209	4450 2336 FF27 clr r31
		4210	4451 2338 EE0F add r30,r30
		4211	4452 233a FF1F adc r31,r31
		4212	4453 233c E050 subi r30,lo8(-(PPM_in))
		4213	4454 233e F040 sbci r31,hi8(-(PPM_in))
		4214	4455 2340 8081 ld r24,Z
		4215	4456 2342 9181 ldd r25,Z+1
		4216	4457 2344 8734 cpi r24,71
		4217	4458 2346 9105 cpc r25,__zero_reg__
		4218	4459 2348 04F0 brlt .L402
		4219	4460 234a 44E0 ldi r20,lo8(4)
		4220	4461 .L402:
		4221	4462 234c E22F mov r30,r18
		4222	4463 234e FF27 clr r31
		4223	4464 2350 EE0F add r30,r30
		4224	4465 2352 FF1F adc r31,r31
		4225	4466 2354 E050 subi r30,lo8(-(PPM_in))
		4226	4467 2356 F040 sbci r31,hi8(-(PPM_in))
		4227	4468 2358 8081 ld r24,Z
		4228	4469 235a 9181 ldd r25,Z+1
		4229	4470 235c 8A5B subi r24,lo8(-70)
		4230	4471 235e 9F4F sbci r25,hi8(-70)
		4231	4472 2360 04F4 brge .L403
		4232	4473 2362 8091 0000 lds r24,EE_Parameter+1
		4233	4474 2366 E82F mov r30,r24
		4234	4475 2368 FF27 clr r31
		4235	4476 236a EE0F add r30,r30
		4236	4477 236c FF1F adc r31,r31
		4237	4478 236e E050 subi r30,lo8(-(PPM_in))
		4238	4479 2370 F040 sbci r31,hi8(-(PPM_in))
		4239	4480 2372 8081 ld r24,Z
		4240	4481 2374 9181 ldd r25,Z+1
		4241	4482 2376 8634 cpi r24,70
		4242	4483 2378 9105 cpc r25,__zero_reg__
		4243	4484 237a 04F4 brge .L403
		4244	4485 237c 45E0 ldi r20,lo8(5)
		4245	4486 .L403:
		4246	4487 237e 842F mov r24,r20
		4247	4488 2380 0E94 0000 call SetActiveParamSet
		4248	4489 .L396:
		4249	4490 2384 8091 0000 lds r24,EE_Parameter+2
		4250	4491 2388 E82F mov r30,r24
		4251	4492 238a FF27 clr r31
		4252	4493 238c EE0F add r30,r30
		4253	4494 238e FF1F adc r31,r31
		4254	4495 2390 E050 subi r30,lo8(-(PPM_in))
		4255	4496 2392 F040 sbci r31,hi8(-(PPM_in))
		4256	4497 2394 8081 ld r24,Z
		4257	4498 2396 9181 ldd r25,Z+1
		4258	4499 2398 0190 ld __tmp_reg__,Z+
		4259	4500 239a F081 ld r31,Z
		4260	4501 239c E02D mov r30,__tmp_reg__
		4261	4502 239e F7FF sbrs r31,7
		4262	4503 23a0 00C0 rjmp .L405
		4263	4504 23a2 F095 com r31
		4264	4505 23a4 E195 neg r30
		4265	4506 23a6 FF4F sbci r31,lo8(-1)
		4266	4507 .L405:
		4267	4508 23a8 7E97 sbiw r30,30
		4268	4509 23aa 04F4 brge .L404
		4269	4510 23ac 8091 0000 lds r24,EE_Parameter+1
		4270	4511 23b0 E82F mov r30,r24
		4271	4512 23b2 FF27 clr r31
		4272	4513 23b4 EE0F add r30,r30
		4273	4514 23b6 FF1F adc r31,r31
		4274	4515 23b8 E050 subi r30,lo8(-(PPM_in))
		4275	4516 23ba F040 sbci r31,hi8(-(PPM_in))
		4276	4517 23bc 8081 ld r24,Z
		4277	4518 23be 9181 ldd r25,Z+1
		4278	4519 23c0 8A5B subi r24,lo8(-70)
		4279	4520 23c2 9F4F sbci r25,hi8(-70)
		4280	4521 23c4 04F4 brge .L404
		4281	4522 23c6 81E0 ldi r24,lo8(1)
		4282	4523 23c8 8093 0000 sts WinkelOut+6,r24
		4283	4524 23cc 1092 0000 sts CalibrationDone,__zero_reg__
		4284	4525 23d0 88EE ldi r24,lo8(1000)
		4285	4526 23d2 93E0 ldi r25,hi8(1000)
		4286	4527 23d4 9093 0000 sts (beeptime)+1,r25
		4287	4528 23d8 8093 0000 sts beeptime,r24
		4288	4529 23dc 00C0 rjmp .L393
		4289	4530 .L404:
		4290	4531 23de 0E94 0000 call GetActiveParamSet
		4291	4532 23e2 0E94 0000 call ParamSet_ReadFromEEProm
		4292	4533 23e6 80E0 ldi r24,lo8(0)
		4293	4534 23e8 0E94 0000 call LipoDetection
		4294	4535 23ec 8091 0000 lds r24,EE_Parameter+39
		4295	4536 23f0 0E94 0000 call LIBFC_ReceiverInit
		4296	4537 23f4 8091 0000 lds r24,Parameter_GlobalConfig
		4297	4538 23f8 80FF sbrs r24,0
		4298	4539 23fa 00C0 rjmp .L407
		4299	4540 23fc 8091 0000 lds r24,MessLuftdruck
		4300	4541 2400 9091 0000 lds r25,(MessLuftdruck)+1
		4301	4542 2404 875B subi r24,lo8(951)
		4302	4543 2406 9340 sbci r25,hi8(951)
		4303	4544 2408 00F4 brsh .L409
		4304	4545 240a 8091 0000 lds r24,MessLuftdruck
		4305	4546 240e 9091 0000 lds r25,(MessLuftdruck)+1
		4306	4547 2412 8E5E subi r24,lo8(750)
		4307	4548 2414 9240 sbci r25,hi8(750)
		4308	4549 2416 00F4 brsh .L407
		4309	4550 .L409:
		4310	4551 2418 0E94 0000 call SucheLuftruckOffset
		4311	4552 .L407:
		4312	4553 241c 80E0 ldi r24,lo8(0)
		4313	4554 241e 0E94 0000 call SetNeutral
		4314	4555 2422 81E0 ldi r24,lo8(1)
		4315	4556 2424 8093 0000 sts CalibrationDone,r24
		4316	4557 2428 8093 0000 sts ServoActive,r24
		4317	4558 242c 579A sbi 42-0x20,7
		4318	4559 242e 00C0 rjmp .L894
		4319	4560 .L394:
		4320	4561 2430 8081 ld r24,Z
		4321	4562 2432 9181 ldd r25,Z+1
		4322	4563 2434 855B subi r24,lo8(-75)
		4323	4564 2436 9F4F sbci r25,hi8(-75)
		4324	4565 2438 04F4 brge .L411
		4325	4566 243a 8091 0000 lds r24,delay_neutral.6
		4326	4567 243e 8F5F subi r24,lo8(-(1))
		4327	4568 2440 8093 0000 sts delay_neutral.6,r24
		4328	4569 2444 893C cpi r24,lo8(-55)
		4329	4570 2446 00F0 brlo .L393
		4330	4571 2448 2093 0000 sts MotorenEin,r18
		4331	4572 244c 2093 0000 sts delay_neutral.6,r18
		4332	4573 2450 1092 0000 sts (modell_fliegt)+1,__zero_reg__
		4333	4574 2454 1092 0000 sts modell_fliegt,__zero_reg__
		4334	4575 2458 81E0 ldi r24,lo8(1)
		4335	4576 245a 0E94 0000 call SetNeutral
		4336	4577 245e 81E0 ldi r24,lo8(1)
		4337	4578 2460 8093 0000 sts CalibrationDone,r24
		4338	4579 .L894:
		4339	4580 2464 88E1 ldi r24,lo8(24)
		4340	4581 2466 8093 0000 sts SpeakHoTT,r24
		4341	4582 246a 0E94 0000 call GetActiveParamSet
		4342	4583 246e 68E7 ldi r22,lo8(120)
		4343	4584 2470 70E0 ldi r23,hi8(120)
		4344	4585 2472 0E94 0000 call Piep
		4345	4586 2476 00C0 rjmp .L393
		4346	4587 .L411:
		4347	4588 2478 2093 0000 sts delay_neutral.6,r18
		4348	4589 .L393:
		4349	4590 247c 8091 0000 lds r24,EE_Parameter+3
		4350	4591 2480 E82F mov r30,r24
		4351	4592 2482 FF27 clr r31
		4352	4593 2484 EE0F add r30,r30
		4353	4594 2486 FF1F adc r31,r31
		4354	4595 2488 E050 subi r30,lo8(-(PPM_in))
		4355	4596 248a F040 sbci r31,hi8(-(PPM_in))
		4356	4597 248c 8081 ld r24,Z
		4357	4598 248e 9181 ldd r25,Z+1
		4358	4599 2490 8B5A subi r24,lo8(-85)
		4359	4600 2492 9F4F sbci r25,hi8(-85)
		4360	4601 2494 04F0 brlt .+2
		4361	4602 2496 00C0 rjmp .L414
		4362	4603 2498 2091 0000 lds r18,EE_Parameter+100
		4363	4604 249c E22F mov r30,r18
		4364	4605 249e FF27 clr r31
		4365	4606 24a0 EF77 andi r30,lo8(127)
		4366	4607 24a2 F070 andi r31,hi8(127)
		4367	4608 24a4 EE0F add r30,r30
		4368	4609 24a6 FF1F adc r31,r31
		4369	4610 24a8 E050 subi r30,lo8(-(PPM_diff))
		4370	4611 24aa F040 sbci r31,hi8(-(PPM_diff))
		4371	4612 24ac 8081 ld r24,Z
		4372	4613 24ae 9181 ldd r25,Z+1
		4373	4614 24b0 0697 sbiw r24,6
		4374	4615 24b2 04F0 brlt .L415
		4375	4616 24b4 84E6 ldi r24,lo8(100)
		4376	4617 24b6 00C0 rjmp .L895
		4377	4618 .L415:
		4378	4619 24b8 8081 ld r24,Z
		4379	4620 24ba 9181 ldd r25,Z+1
		4380	4621 24bc 8B5F subi r24,lo8(-5)
		4381	4622 24be 9F4F sbci r25,hi8(-5)
		4382	4623 24c0 04F4 brge .L416
		4383	4624 24c2 8CE9 ldi r24,lo8(-100)
		4384	4625 .L895:
		4385	4626 24c4 8093 0000 sts move_safety_switch.9,r24
		4386	4627 .L416:
		4387	4628 24c8 8091 0000 lds r24,MotorenEin
		4388	4629 24cc E091 0000 lds r30,EE_Parameter+4
		4389	4630 24d0 8823 tst r24
		4390	4631 24d2 01F0 breq .+2
		4391	4632 24d4 00C0 rjmp .L418
		4392	4633 24d6 FF27 clr r31
		4393	4634 24d8 EE0F add r30,r30
		4394	4635 24da FF1F adc r31,r31
		4395	4636 24dc E050 subi r30,lo8(-(PPM_in))
		4396	4637 24de F040 sbci r31,hi8(-(PPM_in))
		4397	4638 24e0 8081 ld r24,Z
		4398	4639 24e2 9181 ldd r25,Z+1
		4399	4640 24e4 855B subi r24,lo8(-75)
		4400	4641 24e6 9F4F sbci r25,hi8(-75)
		4401	4642 24e8 04F4 brge .L421
		4402	4643 24ea 8091 0000 lds r24,EE_Parameter+111
		4403	4644 24ee 83FD sbrc r24,3
		4404	4645 24f0 00C0 rjmp .L422
		4405	4646 24f2 E22F mov r30,r18
		4406	4647 24f4 FF27 clr r31
		4407	4648 24f6 EE0F add r30,r30
		4408	4649 24f8 FF1F adc r31,r31
		4409	4650 24fa E050 subi r30,lo8(-(PPM_in))
		4410	4651 24fc F040 sbci r31,hi8(-(PPM_in))
		4411	4652 24fe 8081 ld r24,Z
		4412	4653 2500 9181 ldd r25,Z+1
		4413	4654 2502 855B subi r24,lo8(-75)
		4414	4655 2504 9F4F sbci r25,hi8(-75)
		4415	4656 2506 04F0 brlt .L420
		4416	4657 .L422:
		4417	4658 2508 8091 0000 lds r24,EE_Parameter+100
		4418	4659 250c 8823 tst r24
		4419	4660 250e 01F0 breq .L420
		4420	4661 .L421:
		4421	4662 2510 8091 0000 lds r24,EE_Parameter+111
		4422	4663 2514 83FF sbrs r24,3
		4423	4664 2516 00C0 rjmp .L419
		4424	4665 2518 8091 0000 lds r24,EE_Parameter+100
		4425	4666 251c E82F mov r30,r24
		4426	4667 251e FF27 clr r31
		4427	4668 2520 EE0F add r30,r30
		4428	4669 2522 FF1F adc r31,r31
		4429	4670 2524 E050 subi r30,lo8(-(PPM_in))
		4430	4671 2526 F040 sbci r31,hi8(-(PPM_in))
		4431	4672 2528 8081 ld r24,Z
		4432	4673 252a 9181 ldd r25,Z+1
		4433	4674 252c 875F subi r24,lo8(-9)
		4434	4675 252e 9F4F sbci r25,hi8(-9)
		4435	4676 2530 04F4 brge .+2
		4436	4677 2532 00C0 rjmp .L419
		4437	4678 2534 8091 0000 lds r24,move_safety_switch.9
		4438	4679 2538 8436 cpi r24,lo8(100)
		4439	4680 253a 01F0 breq .+2
		4440	4681 253c 00C0 rjmp .L419
		4441	4682 .L420:
		4442	4683 253e 2091 0000 lds r18,CalibrationDone
		4443	4684 2542 2223 tst r18
		4444	4685 2544 01F0 breq .L423
		4445	4686 2546 8091 0000 lds r24,FC_StatusFlags
		4446	4687 254a 8860 ori r24,lo8(8)
		4447	4688 254c 8093 0000 sts FC_StatusFlags,r24
		4448	4689 .L423:
		4449	4690 2550 8091 0000 lds r24,delay_einschalten.7
		4450	4691 2554 8F5F subi r24,lo8(-(1))
		4451	4692 2556 8093 0000 sts delay_einschalten.7,r24
		4452	4693 255a 8E3F cpi r24,lo8(-2)
		4453	4694 255c 00F4 brsh .+2
		4454	4695 255e 00C0 rjmp .L429
		4455	4696 2560 1092 0000 sts delay_einschalten.7,__zero_reg__
		4456	4697 2564 8091 0000 lds r24,VersionInfo+5
		4457	4698 2568 8823 tst r24
		4458	4699 256a 01F0 breq .+2
		4459	4700 256c 00C0 rjmp .L425
		4460	4701 256e 2223 tst r18
		4461	4702 2570 01F4 brne .+2
		4462	4703 2572 00C0 rjmp .L425
		4463	4704 2574 8091 0000 lds r24,NC_ErrorCode
		4464	4705 2578 8823 tst r24
		4465	4706 257a 01F0 breq .+2
		4466	4707 257c 00C0 rjmp .L425
		4467	4708 257e 81E0 ldi r24,lo8(1)
		4468	4709 2580 90E0 ldi r25,hi8(1)
		4469	4710 2582 9093 0000 sts (modell_fliegt)+1,r25
		4470	4711 2586 8093 0000 sts modell_fliegt,r24
		4471	4712 258a 81E0 ldi r24,lo8(1)
		4472	4713 258c 8093 0000 sts MotorenEin,r24
		4473	4714 2590 1092 0000 sts sollGier.0,__zero_reg__
		4474	4715 2594 1092 0000 sts (sollGier.0)+1,__zero_reg__
		4475	4716 2598 1092 0000 sts (sollGier.0)+2,__zero_reg__
		4476	4717 259c 1092 0000 sts (sollGier.0)+3,__zero_reg__
		4477	4718 25a0 1092 0000 sts Mess_Integral_Gier,__zero_reg__
		4478	4719 25a4 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__
		4479	4720 25a8 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__
		4480	4721 25ac 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__
		4481	4722 25b0 1092 0000 sts Mess_Integral_Gier2,__zero_reg__
		4482	4723 25b4 1092 0000 sts (Mess_Integral_Gier2)+1,__zero_reg__
		4483	4724 25b8 1092 0000 sts (Mess_Integral_Gier2)+2,__zero_reg__
		4484	4725 25bc 1092 0000 sts (Mess_Integral_Gier2)+3,__zero_reg__
		4485	4726 25c0 8091 0000 lds r24,EE_Parameter+28
		4486	4727 25c4 E82E mov r14,r24
		4487	4728 25c6 FF24 clr r15
		4488	4729 25c8 0027 clr r16
		4489	4730 25ca 1127 clr r17
		4490	4731 25cc 8091 0000 lds r24,Mittelwert_AccNick
		4491	4732 25d0 9091 0000 lds r25,(Mittelwert_AccNick)+1
		4492	4733 25d4 9C01 movw r18,r24
		4493	4734 25d6 4427 clr r20
		4494	4735 25d8 37FD sbrc r19,7
		4495	4736 25da 4095 com r20
		4496	4737 25dc 542F mov r21,r20
		4497	4738 25de C801 movw r24,r16
		4498	4739 25e0 B701 movw r22,r14
		4499	4740 25e2 0E94 0000 call __mulsi3
		4500	4741 25e6 DC01 movw r26,r24
		4501	4742 25e8 CB01 movw r24,r22
		4502	4743 25ea 8093 0000 sts Mess_IntegralNick,r24
		4503	4744 25ee 9093 0000 sts (Mess_IntegralNick)+1,r25
		4504	4745 25f2 A093 0000 sts (Mess_IntegralNick)+2,r26
		4505	4746 25f6 B093 0000 sts (Mess_IntegralNick)+3,r27
		4506	4747 25fa 8091 0000 lds r24,Mittelwert_AccRoll
		4507	4748 25fe 9091 0000 lds r25,(Mittelwert_AccRoll)+1
		4508	4749 2602 9C01 movw r18,r24
		4509	4750 2604 4427 clr r20
		4510	4751 2606 37FD sbrc r19,7
		4511	4752 2608 4095 com r20
		4512	4753 260a 542F mov r21,r20
		4513	4754 260c C801 movw r24,r16
		4514	4755 260e B701 movw r22,r14
		4515	4756 2610 0E94 0000 call __mulsi3
		4516	4757 2614 DC01 movw r26,r24
		4517	4758 2616 CB01 movw r24,r22
		4518	4759 2618 8093 0000 sts Mess_IntegralRoll,r24
		4519	4760 261c 9093 0000 sts (Mess_IntegralRoll)+1,r25
		4520	4761 2620 A093 0000 sts (Mess_IntegralRoll)+2,r26
		4521	4762 2624 B093 0000 sts (Mess_IntegralRoll)+3,r27
		4522	4763 2628 8091 0000 lds r24,IntegralNick
		4523	4764 262c 9091 0000 lds r25,(IntegralNick)+1
		4524	4765 2630 A091 0000 lds r26,(IntegralNick)+2
		4525	4766 2634 B091 0000 lds r27,(IntegralNick)+3
		4526	4767 2638 8093 0000 sts Mess_IntegralNick2,r24
		4527	4768 263c 9093 0000 sts (Mess_IntegralNick2)+1,r25
		4528	4769 2640 A093 0000 sts (Mess_IntegralNick2)+2,r26
		4529	4770 2644 B093 0000 sts (Mess_IntegralNick2)+3,r27
		4530	4771 2648 8091 0000 lds r24,IntegralRoll
		4531	4772 264c 9091 0000 lds r25,(IntegralRoll)+1
		4532	4773 2650 A091 0000 lds r26,(IntegralRoll)+2
		4533	4774 2654 B091 0000 lds r27,(IntegralRoll)+3
		4534	4775 2658 8093 0000 sts Mess_IntegralRoll2,r24
		4535	4776 265c 9093 0000 sts (Mess_IntegralRoll2)+1,r25
		4536	4777 2660 A093 0000 sts (Mess_IntegralRoll2)+2,r26
		4537	4778 2664 B093 0000 sts (Mess_IntegralRoll2)+3,r27
		4538	4779 2668 1092 0000 sts SummeNick,__zero_reg__
		4539	4780 266c 1092 0000 sts (SummeNick)+1,__zero_reg__
		4540	4781 2670 1092 0000 sts (SummeNick)+2,__zero_reg__
		4541	4782 2674 1092 0000 sts (SummeNick)+3,__zero_reg__
		4542	4783 2678 1092 0000 sts SummeRoll,__zero_reg__
		4543	4784 267c 1092 0000 sts (SummeRoll)+1,__zero_reg__
		4544	4785 2680 1092 0000 sts (SummeRoll)+2,__zero_reg__
		4545	4786 2684 1092 0000 sts (SummeRoll)+3,__zero_reg__
		4546	4787 2688 84E6 ldi r24,lo8(100)
		4547	4788 268a 8093 0000 sts NeueKompassRichtungMerken,r24
		4548	4789 268e 84E3 ldi r24,lo8(52)
		4549	4790 2690 00C0 rjmp .L896
		4550	4791 .L425:
		4551	4792 2692 8CED ldi r24,lo8(1500)
		4552	4793 2694 95E0 ldi r25,hi8(1500)
		4553	4794 2696 9093 0000 sts (beeptime)+1,r25
		4554	4795 269a 8093 0000 sts beeptime,r24
		4555	4796 269e 2223 tst r18
		4556	4797 26a0 01F0 breq .+2
		4557	4798 26a2 00C0 rjmp .L429
		4558	4799 26a4 81E0 ldi r24,lo8(1)
		4559	4800 26a6 00C0 rjmp .L896
		4560	4801 .L419:
		4561	4802 26a8 1092 0000 sts delay_einschalten.7,__zero_reg__
		4562	4803 26ac 00C0 rjmp .L429
		4563	4804 .L418:
		4564	4805 26ae FF27 clr r31
		4565	4806 26b0 EE0F add r30,r30
		4566	4807 26b2 FF1F adc r31,r31
		4567	4808 26b4 E050 subi r30,lo8(-(PPM_in))
		4568	4809 26b6 F040 sbci r31,hi8(-(PPM_in))
		4569	4810 26b8 8081 ld r24,Z
		4570	4811 26ba 9181 ldd r25,Z+1
		4571	4812 26bc 8C34 cpi r24,76
		4572	4813 26be 9105 cpc r25,__zero_reg__
		4573	4814 26c0 04F0 brlt .L432
		4574	4815 26c2 8091 0000 lds r24,EE_Parameter+111
		4575	4816 26c6 83FD sbrc r24,3
		4576	4817 26c8 00C0 rjmp .L433
		4577	4818 26ca E22F mov r30,r18
		4578	4819 26cc FF27 clr r31
		4579	4820 26ce EE0F add r30,r30
		4580	4821 26d0 FF1F adc r31,r31
		4581	4822 26d2 E050 subi r30,lo8(-(PPM_in))
		4582	4823 26d4 F040 sbci r31,hi8(-(PPM_in))
		4583	4824 26d6 8081 ld r24,Z
		4584	4825 26d8 9181 ldd r25,Z+1
		4585	4826 26da 855B subi r24,lo8(-75)
		4586	4827 26dc 9F4F sbci r25,hi8(-75)
		4587	4828 26de 04F0 brlt .L431
		4588	4829 .L433:
		4589	4830 26e0 8091 0000 lds r24,EE_Parameter+100
		4590	4831 26e4 8823 tst r24
		4591	4832 26e6 01F0 breq .L431
		4592	4833 .L432:
		4593	4834 26e8 8091 0000 lds r24,EE_Parameter+111
		4594	4835 26ec 83FF sbrs r24,3
		4595	4836 26ee 00C0 rjmp .L430
		4596	4837 26f0 8091 0000 lds r24,EE_Parameter+100
		4597	4838 26f4 E82F mov r30,r24
		4598	4839 26f6 FF27 clr r31
		4599	4840 26f8 EE0F add r30,r30
		4600	4841 26fa FF1F adc r31,r31
		4601	4842 26fc E050 subi r30,lo8(-(PPM_in))
		4602	4843 26fe F040 sbci r31,hi8(-(PPM_in))
		4603	4844 2700 8081 ld r24,Z
		4604	4845 2702 9181 ldd r25,Z+1
		4605	4846 2704 8E5C subi r24,lo8(-50)
		4606	4847 2706 9F4F sbci r25,hi8(-50)
		4607	4848 2708 04F4 brge .L430
		4608	4849 270a 8091 0000 lds r24,move_safety_switch.9
		4609	4850 270e 8C39 cpi r24,lo8(-100)
		4610	4851 2710 01F4 brne .L430
		4611	4852 .L431:
		4612	4853 2712 8091 0000 lds r24,delay_ausschalten.8
		4613	4854 2716 8F5F subi r24,lo8(-(1))
		4614	4855 2718 8093 0000 sts delay_ausschalten.8,r24
		4615	4856 271c 8B3F cpi r24,lo8(-5)
		4616	4857 271e 00F0 brlo .L429
		4617	4858 2720 1092 0000 sts MotorenEin,__zero_reg__
		4618	4859 2724 1092 0000 sts delay_ausschalten.8,__zero_reg__
		4619	4860 2728 1092 0000 sts (modell_fliegt)+1,__zero_reg__
		4620	4861 272c 1092 0000 sts modell_fliegt,__zero_reg__
		4621	4862 2730 86E2 ldi r24,lo8(38)
		4622	4863 .L896:
		4623	4864 2732 8093 0000 sts SpeakHoTT,r24
		4624	4865 2736 00C0 rjmp .L429
		4625	4866 .L430:
		4626	4867 2738 1092 0000 sts delay_ausschalten.8,__zero_reg__
		4627	4868 .L429:
		4628	4869 273c 8091 0000 lds r24,GasIsZeroCnt
		4629	4870 2740 9091 0000 lds r25,(GasIsZeroCnt)+1
		4630	4871 2744 13E0 ldi r17,hi8(1000)
		4631	4872 2746 883E cpi r24,lo8(1000)
		4632	4873 2748 9107 cpc r25,r17
		4633	4874 274a 00F4 brsh .L387
		4634	4875 274c 0196 adiw r24,1
		4635	4876 274e 9093 0000 sts (GasIsZeroCnt)+1,r25
		4636	4877 2752 8093 0000 sts GasIsZeroCnt,r24
		4637	4878 2756 00C0 rjmp .L387
		4638	4879 .L414:
		4639	4880 2758 1092 0000 sts move_safety_switch.9,__zero_reg__
		4640	4881 275c 1092 0000 sts (GasIsZeroCnt)+1,__zero_reg__
		4641	4882 2760 1092 0000 sts GasIsZeroCnt,__zero_reg__
		4642	4883 2764 00C0 rjmp .L387
		4643	4884 .L388:
		4644	4885 2766 2E5E subi r18,lo8(750)
		4645	4886 2768 3240 sbci r19,hi8(750)
		4646	4887 276a 00F0 brlo .L387
		4647	4888 276c 8091 0000 lds r24,GPSInfo+4
		4648	4889 2770 9091 0000 lds r25,(GPSInfo+4)+1
		4649	4890 2774 8059 subi r24,lo8(400)
		4650	4891 2776 9140 sbci r25,hi8(400)
		4651	4892 2778 00F4 brsh .L387
		4652	4893 277a 8091 0000 lds r24,HoehenWert
		4653	4894 277e 9091 0000 lds r25,(HoehenWert)+1
		4654	4895 2782 A091 0000 lds r26,(HoehenWert)+2
		4655	4896 2786 B091 0000 lds r27,(HoehenWert)+3
		4656	4897 278a 8C5D subi r24,lo8(1500)
		4657	4898 278c 9540 sbci r25,hi8(1500)
		4658	4899 278e A040 sbci r26,hlo8(1500)
		4659	4900 2790 B040 sbci r27,hhi8(1500)
		4660	4901 2792 04F4 brge .L387
		4661	4902 2794 80E3 ldi r24,lo8(30000)
		4662	4903 2796 95E7 ldi r25,hi8(30000)
		4663	4904 2798 9093 0000 sts (GasIsZeroCnt)+1,r25
		4664	4905 279c 8093 0000 sts GasIsZeroCnt,r24
		4665	4906 27a0 8091 0000 lds r24,modell_fliegt
		4666	4907 27a4 9091 0000 lds r25,(modell_fliegt)+1
		4667	4908 27a8 8A5E subi r24,lo8(1002)
		4668	4909 27aa 9340 sbci r25,hi8(1002)
		4669	4910 27ac 00F0 brlo .L387
		4670	4911 27ae 89EE ldi r24,lo8(1001)
		4671	4912 27b0 93E0 ldi r25,hi8(1001)
		4672	4913 27b2 9093 0000 sts (modell_fliegt)+1,r25
		4673	4914 27b6 8093 0000 sts modell_fliegt,r24
		4674	4915 .L387:
		4675	4916 27ba 8091 0000 lds r24,NewPpmData
		4676	4917 27be 8150 subi r24,lo8(-(-1))
		4677	4918 27c0 8093 0000 sts NewPpmData,r24
		4678	4919 27c4 8091 0000 lds r24,NewPpmData
		4679	4920 27c8 8F3F cpi r24,lo8(-1)
		4680	4921 27ca 01F0 breq .L443
		4681	4922 27cc 8091 0000 lds r24,FC_StatusFlags
		4682	4923 27d0 84FF sbrs r24,4
		4683	4924 27d2 00C0 rjmp .L442
		4684	4925 .L443:
		4685	4926 27d4 0E94 0000 call ParameterZuordnung
		4686	4927 27d8 B090 0000 lds r11,EE_Parameter+23
		4687	4928 27dc 8091 0000 lds r24,stick_nick.12
		4688	4929 27e0 9091 0000 lds r25,(stick_nick.12)+1
		4689	4930 27e4 9C01 movw r18,r24
		4690	4931 27e6 220F lsl r18
		4691	4932 27e8 331F rol r19
		4692	4933 27ea 280F add r18,r24
		4693	4934 27ec 391F adc r19,r25
		4694	4935 27ee C090 0000 lds r12,EE_Parameter+1
		4695	4936 27f2 AC2D mov r26,r12
		4696	4937 27f4 BB27 clr r27
		4697	4938 27f6 AA0F add r26,r26
		4698	4939 27f8 BB1F adc r27,r27
		4699	4940 27fa FD01 movw r30,r26
		4700	4941 27fc E050 subi r30,lo8(-(PPM_in))
		4701	4942 27fe F040 sbci r31,hi8(-(PPM_in))
		4702	4943 2800 4B2D mov r20,r11
		4703	4944 2802 5527 clr r21
		4704	4945 2804 8081 ld r24,Z
		4705	4946 2806 9181 ldd r25,Z+1
		4706	4947 2808 849F mul r24,r20
		4707	4948 280a F001 movw r30,r0
		4708	4949 280c 859F mul r24,r21
		4709	4950 280e F00D add r31,r0
		4710	4951 2810 949F mul r25,r20
		4711	4952 2812 F00D add r31,r0
		4712	4953 2814 1124 clr r1
		4713	4954 2816 2E0F add r18,r30
		4714	4955 2818 3F1F adc r19,r31
		4715	4956 281a 37FF sbrs r19,7
		4716	4957 281c 00C0 rjmp .L444
		4717	4958 281e 2D5F subi r18,lo8(-(3))
		4718	4959 2820 3F4F sbci r19,hi8(-(3))
		4719	4960 .L444:
		4720	4961 2822 B901 movw r22,r18
		4721	4962 2824 7595 asr r23
		4722	4963 2826 6795 ror r22
		4723	4964 2828 7595 asr r23
		4724	4965 282a 6795 ror r22
		4725	4966 282c A050 subi r26,lo8(-(PPM_diff))
		4726	4967 282e B040 sbci r27,hi8(-(PPM_diff))
		4727	4968 2830 8091 0000 lds r24,EE_Parameter+24
		4728	4969 2834 082F mov r16,r24
		4729	4970 2836 1127 clr r17
		4730	4971 2838 8D91 ld r24,X+
		4731	4972 283a 9C91 ld r25,X
		4732	4973 283c 809F mul r24,r16
		4733	4974 283e 7001 movw r14,r0
		4734	4975 2840 819F mul r24,r17
		4735	4976 2842 F00C add r15,r0
		4736	4977 2844 909F mul r25,r16
		4737	4978 2846 F00C add r15,r0
		4738	4979 2848 1124 clr r1
		4739	4980 284a 6E0D add r22,r14
		4740	4981 284c 7F1D adc r23,r15
		4741	4982 284e 7093 0000 sts (stick_nick.12)+1,r23
		4742	4983 2852 6093 0000 sts stick_nick.12,r22
		4743	4984 2856 8091 0000 lds r24,stick_roll.13
		4744	4985 285a 9091 0000 lds r25,(stick_roll.13)+1
		4745	4986 285e 9C01 movw r18,r24
		4746	4987 2860 220F lsl r18
		4747	4988 2862 331F rol r19
		4748	4989 2864 280F add r18,r24
		4749	4990 2866 391F adc r19,r25
		4750	4991 2868 D090 0000 lds r13,EE_Parameter+2
		4751	4992 286c AD2D mov r26,r13
		4752	4993 286e BB27 clr r27
		4753	4994 2870 AA0F add r26,r26
		4754	4995 2872 BB1F adc r27,r27
		4755	4996 2874 FD01 movw r30,r26
		4756	4997 2876 E050 subi r30,lo8(-(PPM_in))
		4757	4998 2878 F040 sbci r31,hi8(-(PPM_in))
		4758	4999 287a 8081 ld r24,Z
		4759	5000 287c 9181 ldd r25,Z+1
		4760	5001 287e 849F mul r24,r20
		4761	5002 2880 F001 movw r30,r0
		4762	5003 2882 859F mul r24,r21
		4763	5004 2884 F00D add r31,r0
		4764	5005 2886 949F mul r25,r20
		4765	5006 2888 F00D add r31,r0
		4766	5007 288a 1124 clr r1
		4767	5008 288c 2E0F add r18,r30
		4768	5009 288e 3F1F adc r19,r31
		4769	5010 2890 37FF sbrs r19,7
		4770	5011 2892 00C0 rjmp .L445
		4771	5012 2894 2D5F subi r18,lo8(-(3))
		4772	5013 2896 3F4F sbci r19,hi8(-(3))
		4773	5014 .L445:
		4774	5015 2898 A901 movw r20,r18
		4775	5016 289a 5595 asr r21
		4776	5017 289c 4795 ror r20
		4777	5018 289e 5595 asr r21
		4778	5019 28a0 4795 ror r20
		4779	5020 28a2 A050 subi r26,lo8(-(PPM_diff))
		4780	5021 28a4 B040 sbci r27,hi8(-(PPM_diff))
		4781	5022 28a6 8D91 ld r24,X+
		4782	5023 28a8 9C91 ld r25,X
		4783	5024 28aa 809F mul r24,r16
		4784	5025 28ac 7001 movw r14,r0
		4785	5026 28ae 819F mul r24,r17
		4786	5027 28b0 F00C add r15,r0
		4787	5028 28b2 909F mul r25,r16
		4788	5029 28b4 F00C add r15,r0
		4789	5030 28b6 1124 clr r1
		4790	5031 28b8 4E0D add r20,r14
		4791	5032 28ba 5F1D adc r21,r15
		4792	5033 28bc 5093 0000 sts (stick_roll.13)+1,r21
		4793	5034 28c0 4093 0000 sts stick_roll.13,r20
		4794	5035 28c4 8091 0000 lds r24,CareFree
		4795	5036 28c8 8823 tst r24
		4796	5037 28ca 01F4 brne .+2
		4797	5038 28cc 00C0 rjmp .L446
		4798	5039 28ce CB01 movw r24,r22
		4799	5040 28d0 77FD sbrc r23,7
		4800	5041 28d2 0396 adiw r24,3
		4801	5042 .L447:
		4802	5043 28d4 DC01 movw r26,r24
		4803	5044 28d6 B595 asr r27
		4804	5045 28d8 A795 ror r26
		4805	5046 28da B595 asr r27
		4806	5047 28dc A795 ror r26
		4807	5048 28de CA01 movw r24,r20
		4808	5049 28e0 57FD sbrc r21,7
		4809	5050 28e2 0396 adiw r24,3
		4810	5051 .L448:
		4811	5052 28e4 FC01 movw r30,r24
		4812	5053 28e6 F595 asr r31
		4813	5054 28e8 E795 ror r30
		4814	5055 28ea F595 asr r31
		4815	5056 28ec E795 ror r30
		4816	5057 28ee 8091 0000 lds r24,FromNC_Rotate_C
		4817	5058 28f2 682F mov r22,r24
		4818	5059 28f4 7727 clr r23
		4819	5060 28f6 67FD sbrc r22,7
		4820	5061 28f8 7095 com r23
		4821	5062 28fa 6A9F mul r22,r26
		4822	5063 28fc 9001 movw r18,r0
		4823	5064 28fe 6B9F mul r22,r27
		4824	5065 2900 300D add r19,r0
		4825	5066 2902 7A9F mul r23,r26
		4826	5067 2904 300D add r19,r0
		4827	5068 2906 1124 clr r1
		4828	5069 2908 8091 0000 lds r24,FromNC_Rotate_S
		4829	5070 290c 482F mov r20,r24
		4830	5071 290e 5527 clr r21
		4831	5072 2910 47FD sbrc r20,7
		4832	5073 2912 5095 com r21
		4833	5074 2914 4E9F mul r20,r30
		4834	5075 2916 C001 movw r24,r0
		4835	5076 2918 4F9F mul r20,r31
		4836	5077 291a 900D add r25,r0
		4837	5078 291c 5E9F mul r21,r30
		4838	5079 291e 900D add r25,r0
		4839	5080 2920 1124 clr r1
		4840	5081 2922 280F add r18,r24
		4841	5082 2924 391F adc r19,r25
		4842	5083 2926 37FF sbrs r19,7
		4843	5084 2928 00C0 rjmp .L449
		4844	5085 292a 295F subi r18,lo8(-(7))
		4845	5086 292c 3F4F sbci r19,hi8(-(7))
		4846	5087 .L449:
		4847	5088 292e 93E0 ldi r25,3
		4848	5089 2930 3595 1: asr r19
		4849	5090 2932 2795 ror r18
		4850	5091 2934 9A95 dec r25
		4851	5092 2936 01F4 brne 1b
		4852	5093 2938 3093 0000 sts (StickNick)+1,r19
		4853	5094 293c 2093 0000 sts StickNick,r18
		4854	5095 2940 6E9F mul r22,r30
		4855	5096 2942 9001 movw r18,r0
		4856	5097 2944 6F9F mul r22,r31
		4857	5098 2946 300D add r19,r0
		4858	5099 2948 7E9F mul r23,r30
		4859	5100 294a 300D add r19,r0
		4860	5101 294c 1124 clr r1
		4861	5102 294e 4A9F mul r20,r26
		4862	5103 2950 C001 movw r24,r0
		4863	5104 2952 4B9F mul r20,r27
		4864	5105 2954 900D add r25,r0
		4865	5106 2956 5A9F mul r21,r26
		4866	5107 2958 900D add r25,r0
		4867	5108 295a 1124 clr r1
		4868	5109 295c 00C0 rjmp .L925
		4869	5110 .L446:
		4870	5111 295e 8091 0000 lds r24,EE_Parameter+98
		4871	5112 2962 E82F mov r30,r24
		4872	5113 2964 FF27 clr r31
		4873	5114 2966 E050 subi r30,lo8(-(sintab))
		4874	5115 2968 F040 sbci r31,hi8(-(sintab))
		4875	5116 296a 8681 ldd r24,Z+6
		4876	5117 296c 8093 0000 sts FromNC_Rotate_C,r24
		4877	5118 2970 9081 ld r25,Z
		4878	5119 2972 9093 0000 sts FromNC_Rotate_S,r25
		4879	5120 2976 A82F mov r26,r24
		4880	5121 2978 BB27 clr r27
		4881	5122 297a A7FD sbrc r26,7
		4882	5123 297c B095 com r27
		4883	5124 297e A69F mul r26,r22
		4884	5125 2980 9001 movw r18,r0
		4885	5126 2982 A79F mul r26,r23
		4886	5127 2984 300D add r19,r0
		4887	5128 2986 B69F mul r27,r22
		4888	5129 2988 300D add r19,r0
		4889	5130 298a 1124 clr r1
		4890	5131 298c E92F mov r30,r25
		4891	5132 298e FF27 clr r31
		4892	5133 2990 E7FD sbrc r30,7
		4893	5134 2992 F095 com r31
		4894	5135 2994 E49F mul r30,r20
		4895	5136 2996 C001 movw r24,r0
		4896	5137 2998 E59F mul r30,r21
		4897	5138 299a 900D add r25,r0
		4898	5139 299c F49F mul r31,r20
		4899	5140 299e 900D add r25,r0
		4900	5141 29a0 1124 clr r1
		4901	5142 29a2 280F add r18,r24
		4902	5143 29a4 391F adc r19,r25
		4903	5144 29a6 37FF sbrs r19,7
		4904	5145 29a8 00C0 rjmp .L452
		4905	5146 29aa 295F subi r18,lo8(-(7))
		4906	5147 29ac 3F4F sbci r19,hi8(-(7))
		4907	5148 .L452:
		4908	5149 29ae 83E0 ldi r24,3
		4909	5150 29b0 3595 1: asr r19
		4910	5151 29b2 2795 ror r18
		4911	5152 29b4 8A95 dec r24
		4912	5153 29b6 01F4 brne 1b
		4913	5154 29b8 3093 0000 sts (StickNick)+1,r19
		4914	5155 29bc 2093 0000 sts StickNick,r18
		4915	5156 29c0 A49F mul r26,r20
		4916	5157 29c2 9001 movw r18,r0
		4917	5158 29c4 A59F mul r26,r21
		4918	5159 29c6 300D add r19,r0
		4919	5160 29c8 B49F mul r27,r20
		4920	5161 29ca 300D add r19,r0
		4921	5162 29cc 1124 clr r1
		4922	5163 29ce E69F mul r30,r22
		4923	5164 29d0 C001 movw r24,r0
		4924	5165 29d2 E79F mul r30,r23
		4925	5166 29d4 900D add r25,r0
		4926	5167 29d6 F69F mul r31,r22
		4927	5168 29d8 900D add r25,r0
		4928	5169 29da 1124 clr r1
		4929	5170 .L925:
		4930	5171 29dc 281B sub r18,r24
		4931	5172 29de 390B sbc r19,r25
		4932	5173 29e0 37FF sbrs r19,7
		4933	5174 29e2 00C0 rjmp .L453
		4934	5175 29e4 295F subi r18,lo8(-(7))
		4935	5176 29e6 3F4F sbci r19,hi8(-(7))
		4936	5177 .L453:
		4937	5178 29e8 03E0 ldi r16,3
		4938	5179 29ea 3595 1: asr r19
		4939	5180 29ec 2795 ror r18
		4940	5181 29ee 0A95 dec r16
		4941	5182 29f0 01F4 brne 1b
		4942	5183 29f2 3093 0000 sts (StickRoll)+1,r19
		4943	5184 29f6 2093 0000 sts StickRoll,r18
		4944	5185 29fa 8091 0000 lds r24,EE_Parameter+4
		4945	5186 29fe E82F mov r30,r24
		4946	5187 2a00 FF27 clr r31
		4947	5188 2a02 EE0F add r30,r30
		4948	5189 2a04 FF1F adc r31,r31
		4949	5190 2a06 E050 subi r30,lo8(-(PPM_in))
		4950	5191 2a08 F040 sbci r31,hi8(-(PPM_in))
		4951	5192 2a0a 8081 ld r24,Z
		4952	5193 2a0c 9181 ldd r25,Z+1
		4953	5194 2a0e 9095 com r25
		4954	5195 2a10 8195 neg r24
		4955	5196 2a12 9F4F sbci r25,lo8(-1)
		4956	5197 2a14 9093 0000 sts (StickGier)+1,r25
		4957	5198 2a18 8093 0000 sts StickGier,r24
		4958	5199 2a1c 8530 cpi r24,5
		4959	5200 2a1e 9105 cpc r25,__zero_reg__
		4960	5201 2a20 04F0 brlt .L454
		4961	5202 2a22 0497 sbiw r24,4
		4962	5203 2a24 00C0 rjmp .L897
		4963	5204 .L454:
		4964	5205 2a26 0FEF ldi r16,hi8(-4)
		4965	5206 2a28 8C3F cpi r24,lo8(-4)
		4966	5207 2a2a 9007 cpc r25,r16
		4967	5208 2a2c 04F4 brge .L456
		4968	5209 2a2e 0496 adiw r24,4
		4969	5210 .L897:
		4970	5211 2a30 9093 0000 sts (StickGier)+1,r25
		4971	5212 2a34 8093 0000 sts StickGier,r24
		4972	5213 2a38 00C0 rjmp .L455
		4973	5214 .L456:
		4974	5215 2a3a 1092 0000 sts (StickGier)+1,__zero_reg__
		4975	5216 2a3e 1092 0000 sts StickGier,__zero_reg__
		4976	5217 .L455:
		4977	5218 2a42 8091 0000 lds r24,GPS_Aid_StickMultiplikator
		4978	5219 2a46 8823 tst r24
		4979	5220 2a48 01F4 brne .+2
		4980	5221 2a4a 00C0 rjmp .L458
		4981	5222 2a4c 282F mov r18,r24
		4982	5223 2a4e 3327 clr r19
		4983	5224 2a50 8091 0000 lds r24,StickNick
		4984	5225 2a54 9091 0000 lds r25,(StickNick)+1
		4985	5226 2a58 97FD sbrc r25,7
		4986	5227 2a5a 0796 adiw r24,7
		4987	5228 .L459:
		4988	5229 2a5c 13E0 ldi r17,3
		4989	5230 2a5e 9595 1: asr r25
		4990	5231 2a60 8795 ror r24
		4991	5232 2a62 1A95 dec r17
		4992	5233 2a64 01F4 brne 1b
		4993	5234 2a66 289F mul r18,r24
		4994	5235 2a68 A001 movw r20,r0
		4995	5236 2a6a 299F mul r18,r25
		4996	5237 2a6c 500D add r21,r0
		4997	5238 2a6e 389F mul r19,r24
		4998	5239 2a70 500D add r21,r0
		4999	5240 2a72 1124 clr r1
		5000	5241 2a74 CA01 movw r24,r20
		5001	5242 2a76 57FD sbrc r21,7
		5002	5243 2a78 0F96 adiw r24,15
		5003	5244 .L460:
		5004	5245 2a7a B4E0 ldi r27,4
		5005	5246 2a7c 9595 1: asr r25
		5006	5247 2a7e 8795 ror r24
		5007	5248 2a80 BA95 dec r27
		5008	5249 2a82 01F4 brne 1b
		5009	5250 2a84 9093 0000 sts (StickNick)+1,r25
		5010	5251 2a88 8093 0000 sts StickNick,r24
		5011	5252 2a8c 8091 0000 lds r24,StickRoll
		5012	5253 2a90 9091 0000 lds r25,(StickRoll)+1
		5013	5254 2a94 97FD sbrc r25,7
		5014	5255 2a96 0796 adiw r24,7
		5015	5256 .L461:
		5016	5257 2a98 A3E0 ldi r26,3
		5017	5258 2a9a 9595 1: asr r25
		5018	5259 2a9c 8795 ror r24
		5019	5260 2a9e AA95 dec r26
		5020	5261 2aa0 01F4 brne 1b
		5021	5262 2aa2 289F mul r18,r24
		5022	5263 2aa4 B001 movw r22,r0
		5023	5264 2aa6 299F mul r18,r25
		5024	5265 2aa8 700D add r23,r0
		5025	5266 2aaa 389F mul r19,r24
		5026	5267 2aac 700D add r23,r0
		5027	5268 2aae 1124 clr r1
		5028	5269 2ab0 CB01 movw r24,r22
		5029	5270 2ab2 77FD sbrc r23,7
		5030	5271 2ab4 0F96 adiw r24,15
		5031	5272 .L462:
		5032	5273 2ab6 F4E0 ldi r31,4
		5033	5274 2ab8 9595 1: asr r25
		5034	5275 2aba 8795 ror r24
		5035	5276 2abc FA95 dec r31
		5036	5277 2abe 01F4 brne 1b
		5037	5278 2ac0 9093 0000 sts (StickRoll)+1,r25
		5038	5279 2ac4 8093 0000 sts StickRoll,r24
		5039	5280 .L458:
		5040	5281 2ac8 8090 0000 lds r8,StickNick
		5041	5282 2acc 9090 0000 lds r9,(StickNick)+1
		5042	5283 2ad0 8091 0000 lds r24,GPS_Nick
		5043	5284 2ad4 9091 0000 lds r25,(GPS_Nick)+1
		5044	5285 2ad8 881A sub r8,r24
		5045	5286 2ada 990A sbc r9,r25
		5046	5287 2adc 9092 0000 sts (StickNick)+1,r9
		5047	5288 2ae0 8092 0000 sts StickNick,r8
		5048	5289 2ae4 0091 0000 lds r16,StickRoll
		5049	5290 2ae8 1091 0000 lds r17,(StickRoll)+1
		5050	5291 2aec 8091 0000 lds r24,GPS_Roll
		5051	5292 2af0 9091 0000 lds r25,(GPS_Roll)+1
		5052	5293 2af4 081B sub r16,r24
		5053	5294 2af6 190B sbc r17,r25
		5054	5295 2af8 1093 0000 sts (StickRoll)+1,r17
		5055	5296 2afc 0093 0000 sts StickRoll,r16
		5056	5297 2b00 8091 0000 lds r24,EE_Parameter+3
		5057	5298 2b04 E82F mov r30,r24
		5058	5299 2b06 FF27 clr r31
		5059	5300 2b08 EE0F add r30,r30
		5060	5301 2b0a FF1F adc r31,r31
		5061	5302 2b0c E050 subi r30,lo8(-(PPM_in))
		5062	5303 2b0e F040 sbci r31,hi8(-(PPM_in))
		5063	5304 2b10 E080 ld r14,Z
		5064	5305 2b12 F180 ldd r15,Z+1
		5065	5306 2b14 8FE7 ldi r24,lo8(127)
		5066	5307 2b16 90E0 ldi r25,hi8(127)
		5067	5308 2b18 E80E add r14,r24
		5068	5309 2b1a F91E adc r15,r25
		5069	5310 2b1c F092 0000 sts (StickGas)+1,r15
		5070	5311 2b20 E092 0000 sts StickGas,r14
		5071	5312 2b24 8091 0000 lds r24,Parameter_Gyro_P
		5072	5313 2b28 9927 clr r25
		5073	5314 2b2a AA27 clr r26
		5074	5315 2b2c 97FD sbrc r25,7
		5075	5316 2b2e A095 com r26
		5076	5317 2b30 BA2F mov r27,r26
		5077	5318 2b32 BC01 movw r22,r24
		5078	5319 2b34 CD01 movw r24,r26
		5079	5320 2b36 0E94 0000 call __floatsisf
		5080	5321 2b3a DC01 movw r26,r24
		5081	5322 2b3c CB01 movw r24,r22
		5082	5323 2b3e 20E0 ldi r18,lo8(0x41200000)
		5083	5324 2b40 30E0 ldi r19,hi8(0x41200000)
		5084	5325 2b42 40E2 ldi r20,hlo8(0x41200000)
		5085	5326 2b44 51E4 ldi r21,hhi8(0x41200000)
		5086	5327 2b46 BC01 movw r22,r24
		5087	5328 2b48 CD01 movw r24,r26
		5088	5329 2b4a 0E94 0000 call __addsf3
		5089	5330 2b4e DC01 movw r26,r24
		5090	5331 2b50 CB01 movw r24,r22
		5091	5332 2b52 BC01 movw r22,r24
		5092	5333 2b54 CD01 movw r24,r26
		5093	5334 2b56 0E94 0000 call __fixunssfsi
		5094	5335 2b5a DC01 movw r26,r24
		5095	5336 2b5c CB01 movw r24,r22
		5096	5337 2b5e 8093 0000 sts GyroFaktor,r24
		5097	5338 2b62 8091 0000 lds r24,Parameter_Gyro_I
		5098	5339 2b66 8093 0000 sts IntegralFaktor,r24
		5099	5340 2b6a 8091 0000 lds r24,Parameter_Gyro_Gier_P
		5100	5341 2b6e 9927 clr r25
		5101	5342 2b70 AA27 clr r26
		5102	5343 2b72 97FD sbrc r25,7
		5103	5344 2b74 A095 com r26
		5104	5345 2b76 BA2F mov r27,r26
		5105	5346 2b78 BC01 movw r22,r24
		5106	5347 2b7a CD01 movw r24,r26
		5107	5348 2b7c 0E94 0000 call __floatsisf
		5108	5349 2b80 DC01 movw r26,r24
		5109	5350 2b82 CB01 movw r24,r22
		5110	5351 2b84 20E0 ldi r18,lo8(0x41200000)
		5111	5352 2b86 30E0 ldi r19,hi8(0x41200000)
		5112	5353 2b88 40E2 ldi r20,hlo8(0x41200000)
		5113	5354 2b8a 51E4 ldi r21,hhi8(0x41200000)
		5114	5355 2b8c BC01 movw r22,r24
		5115	5356 2b8e CD01 movw r24,r26
		5116	5357 2b90 0E94 0000 call __addsf3
		5117	5358 2b94 DC01 movw r26,r24
		5118	5359 2b96 CB01 movw r24,r22
		5119	5360 2b98 BC01 movw r22,r24
		5120	5361 2b9a CD01 movw r24,r26
		5121	5362 2b9c 0E94 0000 call __fixunssfsi
		5122	5363 2ba0 DC01 movw r26,r24
		5123	5364 2ba2 CB01 movw r24,r22
		5124	5365 2ba4 8093 0000 sts GyroFaktorGier,r24
		5125	5366 2ba8 8091 0000 lds r24,Parameter_Gyro_Gier_I
		5126	5367 2bac 8093 0000 sts IntegralFaktorGier,r24
		5127	5368 2bb0 8091 0000 lds r24,ExternControl+10
		5128	5369 2bb4 80FF sbrs r24,0
		5129	5370 2bb6 00C0 rjmp .L463
		5130	5371 2bb8 8091 0000 lds r24,Parameter_ExternalControl
		5131	5372 2bbc 8138 cpi r24,lo8(-127)
		5132	5373 2bbe 00F4 brsh .+2
		5133	5374 2bc0 00C0 rjmp .L463
		5134	5375 2bc2 8091 0000 lds r24,ExternControl+3
		5135	5376 2bc6 9927 clr r25
		5136	5377 2bc8 87FD sbrc r24,7
		5137	5378 2bca 9095 com r25
		5138	5379 2bcc 2B2D mov r18,r11
		5139	5380 2bce 3327 clr r19
		5140	5381 2bd0 829F mul r24,r18
		5141	5382 2bd2 D001 movw r26,r0
		5142	5383 2bd4 839F mul r24,r19
		5143	5384 2bd6 B00D add r27,r0
		5144	5385 2bd8 929F mul r25,r18
		5145	5386 2bda B00D add r27,r0
		5146	5387 2bdc 1124 clr r1
		5147	5388 2bde 8A0E add r8,r26
		5148	5389 2be0 9B1E adc r9,r27
		5149	5390 2be2 9092 0000 sts (StickNick)+1,r9
		5150	5391 2be6 8092 0000 sts StickNick,r8
		5151	5392 2bea 8091 0000 lds r24,ExternControl+4
		5152	5393 2bee 9927 clr r25
		5153	5394 2bf0 87FD sbrc r24,7
		5154	5395 2bf2 9095 com r25
		5155	5396 2bf4 829F mul r24,r18
		5156	5397 2bf6 F001 movw r30,r0
		5157	5398 2bf8 839F mul r24,r19
		5158	5399 2bfa F00D add r31,r0
		5159	5400 2bfc 929F mul r25,r18
		5160	5401 2bfe F00D add r31,r0
		5161	5402 2c00 1124 clr r1
		5162	5403 2c02 0E0F add r16,r30
		5163	5404 2c04 1F1F adc r17,r31
		5164	5405 2c06 1093 0000 sts (StickRoll)+1,r17
		5165	5406 2c0a 0093 0000 sts StickRoll,r16
		5166	5407 2c0e 8091 0000 lds r24,ExternControl+5
		5167	5408 2c12 282F mov r18,r24
		5168	5409 2c14 3327 clr r19
		5169	5410 2c16 27FD sbrc r18,7
		5170	5411 2c18 3095 com r19
		5171	5412 2c1a 8091 0000 lds r24,StickGier
		5172	5413 2c1e 9091 0000 lds r25,(StickGier)+1
		5173	5414 2c22 820F add r24,r18
		5174	5415 2c24 931F adc r25,r19
		5175	5416 2c26 9093 0000 sts (StickGier)+1,r25
		5176	5417 2c2a 8093 0000 sts StickGier,r24
		5177	5418 2c2e 8091 0000 lds r24,ExternControl+7
		5178	5419 2c32 282F mov r18,r24
		5179	5420 2c34 3327 clr r19
		5180	5421 2c36 27FD sbrc r18,7
		5181	5422 2c38 3095 com r19
		5182	5423 2c3a 8091 0000 lds r24,EE_Parameter+18
		5183	5424 2c3e 9927 clr r25
		5184	5425 2c40 289F mul r18,r24
		5185	5426 2c42 8001 movw r16,r0
		5186	5427 2c44 299F mul r18,r25
		5187	5428 2c46 100D add r17,r0
		5188	5429 2c48 389F mul r19,r24
		5189	5430 2c4a 100D add r17,r0
		5190	5431 2c4c 1124 clr r1
		5191	5432 2c4e 1093 0000 sts (ExternHoehenValue)+1,r17
		5192	5433 2c52 0093 0000 sts ExternHoehenValue,r16
		5193	5434 2c56 8091 0000 lds r24,ExternControl+6
		5194	5435 2c5a 9927 clr r25
		5195	5436 2c5c 8E15 cp r24,r14
		5196	5437 2c5e 9F05 cpc r25,r15
		5197	5438 2c60 04F4 brge .L463
		5198	5439 2c62 9093 0000 sts (StickGas)+1,r25
		5199	5440 2c66 8093 0000 sts StickGas,r24
		5200	5441 .L463:
		5201	5442 2c6a 8091 0000 lds r24,StickGas
		5202	5443 2c6e 9091 0000 lds r25,(StickGas)+1
		5203	5444 2c72 97FF sbrs r25,7
		5204	5445 2c74 00C0 rjmp .L465
		5205	5446 2c76 1092 0000 sts (StickGas)+1,__zero_reg__
		5206	5447 2c7a 1092 0000 sts StickGas,__zero_reg__
		5207	5448 .L465:
		5208	5449 2c7e 8091 0000 lds r24,Parameter_GlobalConfig
		5209	5450 2c82 82FF sbrs r24,2
		5210	5451 2c84 00C0 rjmp .L466
		5211	5452 2c86 1092 0000 sts IntegralFaktor,__zero_reg__
		5212	5453 .L466:
		5213	5454 2c8a 4091 0000 lds r20,StickNick
		5214	5455 2c8e 5091 0000 lds r21,(StickNick)+1
		5215	5456 2c92 CA01 movw r24,r20
		5216	5457 2c94 57FD sbrc r21,7
		5217	5458 2c96 0396 adiw r24,3
		5218	5459 .L468:
		5219	5460 2c98 9C01 movw r18,r24
		5220	5461 2c9a 3595 asr r19
		5221	5462 2c9c 2795 ror r18
		5222	5463 2c9e 3595 asr r19
		5223	5464 2ca0 2795 ror r18
		5224	5465 2ca2 37FF sbrs r19,7
		5225	5466 2ca4 00C0 rjmp .L469
		5226	5467 2ca6 3095 com r19
		5227	5468 2ca8 2195 neg r18
		5228	5469 2caa 3F4F sbci r19,lo8(-1)
		5229	5470 .L469:
		5230	5471 2cac 8091 0000 lds r24,MaxStickNick
		5231	5472 2cb0 9091 0000 lds r25,(MaxStickNick)+1
		5232	5473 2cb4 8217 cp r24,r18
		5233	5474 2cb6 9307 cpc r25,r19
		5234	5475 2cb8 04F4 brge .L467
		5235	5476 2cba CA01 movw r24,r20
		5236	5477 2cbc 57FF sbrs r21,7
		5237	5478 2cbe 00C0 rjmp .L470
		5238	5479 2cc0 9095 com r25
		5239	5480 2cc2 8195 neg r24
		5240	5481 2cc4 9F4F sbci r25,lo8(-1)
		5241	5482 .L470:
		5242	5483 2cc6 97FD sbrc r25,7
		5243	5484 2cc8 0396 adiw r24,3
		5244	5485 .L471:
		5245	5486 2cca 9595 asr r25
		5246	5487 2ccc 8795 ror r24
		5247	5488 2cce 9595 asr r25
		5248	5489 2cd0 8795 ror r24
		5249	5490 2cd2 9093 0000 sts (MaxStickNick)+1,r25
		5250	5491 2cd6 8093 0000 sts MaxStickNick,r24
		5251	5492 2cda 8536 cpi r24,101
		5252	5493 2cdc 9105 cpc r25,__zero_reg__
		5253	5494 2cde 04F0 brlt .L473
		5254	5495 2ce0 84E6 ldi r24,lo8(100)
		5255	5496 2ce2 90E0 ldi r25,hi8(100)
		5256	5497 2ce4 00C0 rjmp .L898
		5257	5498 .L467:
		5258	5499 2ce6 0197 sbiw r24,1
		5259	5500 .L898:
		5260	5501 2ce8 9093 0000 sts (MaxStickNick)+1,r25
		5261	5502 2cec 8093 0000 sts MaxStickNick,r24
		5262	5503 .L473:
		5263	5504 2cf0 4091 0000 lds r20,StickRoll
		5264	5505 2cf4 5091 0000 lds r21,(StickRoll)+1
		5265	5506 2cf8 CA01 movw r24,r20
		5266	5507 2cfa 57FD sbrc r21,7
		5267	5508 2cfc 0396 adiw r24,3
		5268	5509 .L475:
		5269	5510 2cfe 9C01 movw r18,r24
		5270	5511 2d00 3595 asr r19
		5271	5512 2d02 2795 ror r18
		5272	5513 2d04 3595 asr r19
		5273	5514 2d06 2795 ror r18
		5274	5515 2d08 37FF sbrs r19,7
		5275	5516 2d0a 00C0 rjmp .L476
		5276	5517 2d0c 3095 com r19
		5277	5518 2d0e 2195 neg r18
		5278	5519 2d10 3F4F sbci r19,lo8(-1)
		5279	5520 .L476:
		5280	5521 2d12 8091 0000 lds r24,MaxStickRoll
		5281	5522 2d16 9091 0000 lds r25,(MaxStickRoll)+1
		5282	5523 2d1a 8217 cp r24,r18
		5283	5524 2d1c 9307 cpc r25,r19
		5284	5525 2d1e 04F4 brge .L474
		5285	5526 2d20 CA01 movw r24,r20
		5286	5527 2d22 57FF sbrs r21,7
		5287	5528 2d24 00C0 rjmp .L477
		5288	5529 2d26 9095 com r25
		5289	5530 2d28 8195 neg r24
		5290	5531 2d2a 9F4F sbci r25,lo8(-1)
		5291	5532 .L477:
		5292	5533 2d2c 97FD sbrc r25,7
		5293	5534 2d2e 0396 adiw r24,3
		5294	5535 .L478:
		5295	5536 2d30 9595 asr r25
		5296	5537 2d32 8795 ror r24
		5297	5538 2d34 9595 asr r25
		5298	5539 2d36 8795 ror r24
		5299	5540 2d38 9093 0000 sts (MaxStickRoll)+1,r25
		5300	5541 2d3c 8093 0000 sts MaxStickRoll,r24
		5301	5542 2d40 8536 cpi r24,101
		5302	5543 2d42 9105 cpc r25,__zero_reg__
		5303	5544 2d44 04F0 brlt .L480
		5304	5545 2d46 84E6 ldi r24,lo8(100)
		5305	5546 2d48 90E0 ldi r25,hi8(100)
		5306	5547 2d4a 00C0 rjmp .L899
		5307	5548 .L474:
		5308	5549 2d4c 0197 sbiw r24,1
		5309	5550 .L899:
		5310	5551 2d4e 9093 0000 sts (MaxStickRoll)+1,r25
		5311	5552 2d52 8093 0000 sts MaxStickRoll,r24
		5312	5553 .L480:
		5313	5554 2d56 8091 0000 lds r24,FC_StatusFlags
		5314	5555 2d5a 84FF sbrs r24,4
		5315	5556 2d5c 00C0 rjmp .L481
		5316	5557 2d5e 1092 0000 sts (MaxStickNick)+1,__zero_reg__
		5317	5558 2d62 1092 0000 sts MaxStickNick,__zero_reg__
		5318	5559 2d66 1092 0000 sts (MaxStickRoll)+1,__zero_reg__
		5319	5560 2d6a 1092 0000 sts MaxStickRoll,__zero_reg__
		5320	5561 .L481:
		5321	5562 2d6e ED2D mov r30,r13
		5322	5563 2d70 FF27 clr r31
		5323	5564 2d72 EE0F add r30,r30
		5324	5565 2d74 FF1F adc r31,r31
		5325	5566 2d76 E050 subi r30,lo8(-(PPM_in))
		5326	5567 2d78 F040 sbci r31,hi8(-(PPM_in))
		5327	5568 2d7a 4091 0000 lds r20,EE_Parameter+60
		5328	5569 2d7e 242F mov r18,r20
		5329	5570 2d80 3327 clr r19
		5330	5571 2d82 8081 ld r24,Z
		5331	5572 2d84 9181 ldd r25,Z+1
		5332	5573 2d86 2817 cp r18,r24
		5333	5574 2d88 3907 cpc r19,r25
		5334	5575 2d8a 04F4 brge .L482
		5335	5576 2d8c 8091 0000 lds r24,EE_Parameter+108
		5336	5577 2d90 82FF sbrs r24,2
		5337	5578 2d92 00C0 rjmp .L482
		5338	5579 2d94 81E0 ldi r24,lo8(1)
		5339	5580 2d96 8093 0000 sts Looping_Links,r24
		5340	5581 2d9a 00C0 rjmp .L483
		5341	5582 .L482:
		5342	5583 2d9c ED2D mov r30,r13
		5343	5584 2d9e FF27 clr r31
		5344	5585 2da0 EE0F add r30,r30
		5345	5586 2da2 FF1F adc r31,r31
		5346	5587 2da4 E050 subi r30,lo8(-(PPM_in))
		5347	5588 2da6 F040 sbci r31,hi8(-(PPM_in))
		5348	5589 2da8 842F mov r24,r20
		5349	5590 2daa 9927 clr r25
		5350	5591 2dac 2091 0000 lds r18,EE_Parameter+61
		5351	5592 2db0 821B sub r24,r18
		5352	5593 2db2 9109 sbc r25,__zero_reg__
		5353	5594 2db4 2081 ld r18,Z
		5354	5595 2db6 3181 ldd r19,Z+1
		5355	5596 2db8 2817 cp r18,r24
		5356	5597 2dba 3907 cpc r19,r25
		5357	5598 2dbc 04F4 brge .L483
		5358	5599 2dbe 1092 0000 sts Looping_Links,__zero_reg__
		5359	5600 .L483:
		5360	5601 2dc2 4091 0000 lds r20,EE_Parameter+2
		5361	5602 2dc6 E42F mov r30,r20
		5362	5603 2dc8 FF27 clr r31
		5363	5604 2dca EE0F add r30,r30
		5364	5605 2dcc FF1F adc r31,r31
		5365	5606 2dce E050 subi r30,lo8(-(PPM_in))
		5366	5607 2dd0 F040 sbci r31,hi8(-(PPM_in))
		5367	5608 2dd2 5091 0000 lds r21,EE_Parameter+60
		5368	5609 2dd6 852F mov r24,r21
		5369	5610 2dd8 9927 clr r25
		5370	5611 2dda 2227 clr r18
		5371	5612 2ddc 3327 clr r19
		5372	5613 2dde 281B sub r18,r24
		5373	5614 2de0 390B sbc r19,r25
		5374	5615 2de2 8081 ld r24,Z
		5375	5616 2de4 9181 ldd r25,Z+1
		5376	5617 2de6 8217 cp r24,r18
		5377	5618 2de8 9307 cpc r25,r19
		5378	5619 2dea 04F4 brge .L485
		5379	5620 2dec 8091 0000 lds r24,EE_Parameter+108
		5380	5621 2df0 83FF sbrs r24,3
		5381	5622 2df2 00C0 rjmp .L485
		5382	5623 2df4 81E0 ldi r24,lo8(1)
		5383	5624 2df6 8093 0000 sts Looping_Rechts,r24
		5384	5625 2dfa 00C0 rjmp .L486
		5385	5626 .L485:
		5386	5627 2dfc 8091 0000 lds r24,Looping_Rechts
		5387	5628 2e00 8823 tst r24
		5388	5629 2e02 01F0 breq .L486
		5389	5630 2e04 E42F mov r30,r20
		5390	5631 2e06 FF27 clr r31
		5391	5632 2e08 EE0F add r30,r30
		5392	5633 2e0a FF1F adc r31,r31
		5393	5634 2e0c E050 subi r30,lo8(-(PPM_in))
		5394	5635 2e0e F040 sbci r31,hi8(-(PPM_in))
		5395	5636 2e10 8091 0000 lds r24,EE_Parameter+61
		5396	5637 2e14 9927 clr r25
		5397	5638 2e16 851B sub r24,r21
		5398	5639 2e18 9109 sbc r25,__zero_reg__
		5399	5640 2e1a 2081 ld r18,Z
		5400	5641 2e1c 3181 ldd r19,Z+1
		5401	5642 2e1e 8217 cp r24,r18
		5402	5643 2e20 9307 cpc r25,r19
		5403	5644 2e22 04F4 brge .L486
		5404	5645 2e24 1092 0000 sts Looping_Rechts,__zero_reg__
		5405	5646 .L486:
		5406	5647 2e28 EC2D mov r30,r12
		5407	5648 2e2a FF27 clr r31
		5408	5649 2e2c EE0F add r30,r30
		5409	5650 2e2e FF1F adc r31,r31
		5410	5651 2e30 E050 subi r30,lo8(-(PPM_in))
		5411	5652 2e32 F040 sbci r31,hi8(-(PPM_in))
		5412	5653 2e34 4091 0000 lds r20,EE_Parameter+60
		5413	5654 2e38 242F mov r18,r20
		5414	5655 2e3a 3327 clr r19
		5415	5656 2e3c 8081 ld r24,Z
		5416	5657 2e3e 9181 ldd r25,Z+1
		5417	5658 2e40 2817 cp r18,r24
		5418	5659 2e42 3907 cpc r19,r25
		5419	5660 2e44 04F4 brge .L489
		5420	5661 2e46 8091 0000 lds r24,EE_Parameter+108
		5421	5662 2e4a 80FF sbrs r24,0
		5422	5663 2e4c 00C0 rjmp .L489
		5423	5664 2e4e 81E0 ldi r24,lo8(1)
		5424	5665 2e50 8093 0000 sts Looping_Oben,r24
		5425	5666 2e54 00C0 rjmp .L490
		5426	5667 .L489:
		5427	5668 2e56 8091 0000 lds r24,Looping_Oben
		5428	5669 2e5a 8823 tst r24
		5429	5670 2e5c 01F0 breq .L490
		5430	5671 2e5e EC2D mov r30,r12
		5431	5672 2e60 FF27 clr r31
		5432	5673 2e62 EE0F add r30,r30
		5433	5674 2e64 FF1F adc r31,r31
		5434	5675 2e66 E050 subi r30,lo8(-(PPM_in))
		5435	5676 2e68 F040 sbci r31,hi8(-(PPM_in))
		5436	5677 2e6a 842F mov r24,r20
		5437	5678 2e6c 9927 clr r25
		5438	5679 2e6e 2091 0000 lds r18,EE_Parameter+61
		5439	5680 2e72 821B sub r24,r18
		5440	5681 2e74 9109 sbc r25,__zero_reg__
		5441	5682 2e76 2081 ld r18,Z
		5442	5683 2e78 3181 ldd r19,Z+1
		5443	5684 2e7a 2817 cp r18,r24
		5444	5685 2e7c 3907 cpc r19,r25
		5445	5686 2e7e 04F4 brge .L490
		5446	5687 2e80 1092 0000 sts Looping_Oben,__zero_reg__
		5447	5688 .L490:
		5448	5689 2e84 4091 0000 lds r20,EE_Parameter+1
		5449	5690 2e88 E42F mov r30,r20
		5450	5691 2e8a FF27 clr r31
		5451	5692 2e8c EE0F add r30,r30
		5452	5693 2e8e FF1F adc r31,r31
		5453	5694 2e90 E050 subi r30,lo8(-(PPM_in))
		5454	5695 2e92 F040 sbci r31,hi8(-(PPM_in))
		5455	5696 2e94 5091 0000 lds r21,EE_Parameter+60
		5456	5697 2e98 852F mov r24,r21
		5457	5698 2e9a 9927 clr r25
		5458	5699 2e9c 2227 clr r18
		5459	5700 2e9e 3327 clr r19
		5460	5701 2ea0 281B sub r18,r24
		5461	5702 2ea2 390B sbc r19,r25
		5462	5703 2ea4 8081 ld r24,Z
		5463	5704 2ea6 9181 ldd r25,Z+1
		5464	5705 2ea8 8217 cp r24,r18
		5465	5706 2eaa 9307 cpc r25,r19
		5466	5707 2eac 04F4 brge .L493
		5467	5708 2eae 8091 0000 lds r24,EE_Parameter+108
		5468	5709 2eb2 81FF sbrs r24,1
		5469	5710 2eb4 00C0 rjmp .L493
		5470	5711 2eb6 81E0 ldi r24,lo8(1)
		5471	5712 2eb8 8093 0000 sts Looping_Unten,r24
		5472	5713 2ebc 00C0 rjmp .L494
		5473	5714 .L493:
		5474	5715 2ebe 8091 0000 lds r24,Looping_Unten
		5475	5716 2ec2 8823 tst r24
		5476	5717 2ec4 01F0 breq .L494
		5477	5718 2ec6 E42F mov r30,r20
		5478	5719 2ec8 FF27 clr r31
		5479	5720 2eca EE0F add r30,r30
		5480	5721 2ecc FF1F adc r31,r31
		5481	5722 2ece E050 subi r30,lo8(-(PPM_in))
		5482	5723 2ed0 F040 sbci r31,hi8(-(PPM_in))
		5483	5724 2ed2 8091 0000 lds r24,EE_Parameter+61
		5484	5725 2ed6 9927 clr r25
		5485	5726 2ed8 851B sub r24,r21
		5486	5727 2eda 9109 sbc r25,__zero_reg__
		5487	5728 2edc 2081 ld r18,Z
		5488	5729 2ede 3181 ldd r19,Z+1
		5489	5730 2ee0 8217 cp r24,r18
		5490	5731 2ee2 9307 cpc r25,r19
		5491	5732 2ee4 04F4 brge .L494
		5492	5733 2ee6 1092 0000 sts Looping_Unten,__zero_reg__
		5493	5734 .L494:
		5494	5735 2eea 8091 0000 lds r24,Looping_Links
		5495	5736 2eee 8823 tst r24
		5496	5737 2ef0 01F4 brne .L498
		5497	5738 2ef2 8091 0000 lds r24,Looping_Rechts
		5498	5739 2ef6 8111 cpse r24,__zero_reg__
		5499	5740 .L498:
		5500	5741 2ef8 81E0 ldi r24,lo8(1)
		5501	5742 .L497:
		5502	5743 2efa 8093 0000 sts Looping_Roll,r24
		5503	5744 2efe 8091 0000 lds r24,Looping_Oben
		5504	5745 2f02 8823 tst r24
		5505	5746 2f04 01F4 brne .L501
		5506	5747 2f06 8091 0000 lds r24,Looping_Unten
		5507	5748 2f0a 8823 tst r24
		5508	5749 2f0c 01F0 breq .L500
		5509	5750 .L501:
		5510	5751 2f0e 81E0 ldi r24,lo8(1)
		5511	5752 2f10 8093 0000 sts Looping_Nick,r24
		5512	5753 2f14 1092 0000 sts Looping_Roll,__zero_reg__
		5513	5754 2f18 1092 0000 sts Looping_Links,__zero_reg__
		5514	5755 2f1c 1092 0000 sts Looping_Rechts,__zero_reg__
		5515	5756 2f20 00C0 rjmp .L442
		5516	5757 .L500:
		5517	5758 2f22 8093 0000 sts Looping_Nick,r24
		5518	5759 .L442:
		5519	5760 2f26 8091 0000 lds r24,Looping_Roll
		5520	5761 2f2a 8823 tst r24
		5521	5762 2f2c 01F4 brne .L504
		5522	5763 2f2e 8091 0000 lds r24,Looping_Nick
		5523	5764 2f32 8823 tst r24
		5524	5765 2f34 01F0 breq .L503
		5525	5766 .L504:
		5526	5767 2f36 8091 0000 lds r24,EE_Parameter+59
		5527	5768 2f3a 9927 clr r25
		5528	5769 2f3c 2981 ldd r18,Y+1
		5529	5770 2f3e 3A81 ldd r19,Y+2
		5530	5771 2f40 8217 cp r24,r18
		5531	5772 2f42 9307 cpc r25,r19
		5532	5773 2f44 04F4 brge .L505
		5533	5774 2f46 9A83 std Y+2,r25
		5534	5775 2f48 8983 std Y+1,r24
		5535	5776 .L505:
		5536	5777 2f4a 81E0 ldi r24,lo8(1)
		5537	5778 2f4c 8093 0000 sts TrichterFlug,r24
		5538	5779 .L503:
		5539	5780 2f50 8091 0000 lds r24,FC_StatusFlags2
		5540	5781 2f54 9927 clr r25
		5541	5782 2f56 9C01 movw r18,r24
		5542	5783 2f58 2470 andi r18,lo8(4)
		5543	5784 2f5a 3070 andi r19,hi8(4)
		5544	5785 2f5c 82FF sbrs r24,2
		5545	5786 2f5e 00C0 rjmp .L506
		5546	5787 2f60 8091 0000 lds r24,GPS_Nick
		5547	5788 2f64 9091 0000 lds r25,(GPS_Nick)+1
		5548	5789 2f68 9095 com r25
		5549	5790 2f6a 8195 neg r24
		5550	5791 2f6c 9F4F sbci r25,lo8(-1)
		5551	5792 2f6e 9093 0000 sts (StickNick)+1,r25
		5552	5793 2f72 8093 0000 sts StickNick,r24
		5553	5794 2f76 8091 0000 lds r24,GPS_Roll
		5554	5795 2f7a 9091 0000 lds r25,(GPS_Roll)+1
		5555	5796 2f7e 9095 com r25
		5556	5797 2f80 8195 neg r24
		5557	5798 2f82 9F4F sbci r25,lo8(-1)
		5558	5799 2f84 9093 0000 sts (StickRoll)+1,r25
		5559	5800 2f88 8093 0000 sts StickRoll,r24
		5560	5801 2f8c 8091 0000 lds r24,StickGasHover
		5561	5802 2f90 9091 0000 lds r25,(StickGasHover)+1
		5562	5803 2f94 9093 0000 sts (StickGas)+1,r25
		5563	5804 2f98 8093 0000 sts StickGas,r24
		5564	5805 2f9c 8091 0000 lds r24,Parameter_GlobalConfig
		5565	5806 2fa0 8B77 andi r24,lo8(123)
		5566	5807 2fa2 8B66 ori r24,lo8(107)
		5567	5808 2fa4 8093 0000 sts Parameter_GlobalConfig,r24
		5568	5809 2fa8 8091 0000 lds r24,Parameter_ExtraConfig
		5569	5810 2fac 8C7B andi r24,lo8(-68)
		5570	5811 2fae 8093 0000 sts Parameter_ExtraConfig,r24
		5571	5812 2fb2 88EC ldi r24,lo8(-56)
		5572	5813 2fb4 8093 0000 sts Parameter_HoehenSchalter,r24
		5573	5814 2fb8 00C0 rjmp .L507
		5574	5815 .L506:
		5575	5816 2fba 8091 0000 lds r24,FC_StatusFlags
		5576	5817 2fbe 84FF sbrs r24,4
		5577	5818 2fc0 00C0 rjmp .L507
		5578	5819 2fc2 3093 0000 sts (StickGier)+1,r19
		5579	5820 2fc6 2093 0000 sts StickGier,r18
		5580	5821 2fca 3093 0000 sts (StickNick)+1,r19
		5581	5822 2fce 2093 0000 sts StickNick,r18
		5582	5823 2fd2 3093 0000 sts (StickRoll)+1,r19
		5583	5824 2fd6 2093 0000 sts StickRoll,r18
		5584	5825 2fda 9AE5 ldi r25,lo8(90)
		5585	5826 2fdc 9093 0000 sts GyroFaktor,r25
		5586	5827 2fe0 88E7 ldi r24,lo8(120)
		5587	5828 2fe2 8093 0000 sts IntegralFaktor,r24
		5588	5829 2fe6 9093 0000 sts GyroFaktorGier,r25
		5589	5830 2fea 8093 0000 sts IntegralFaktorGier,r24
		5590	5831 2fee 1092 0000 sts Looping_Roll,__zero_reg__
		5591	5832 2ff2 1092 0000 sts Looping_Nick,__zero_reg__
		5592	5833 .L507:
		5593	5834 2ff6 8091 0000 lds r24,MittelIntegralNick
		5594	5835 2ffa 9091 0000 lds r25,(MittelIntegralNick)+1
		5595	5836 2ffe A091 0000 lds r26,(MittelIntegralNick)+2
		5596	5837 3002 B091 0000 lds r27,(MittelIntegralNick)+3
		5597	5838 3006 2091 0000 lds r18,IntegralNick
		5598	5839 300a 3091 0000 lds r19,(IntegralNick)+1
		5599	5840 300e 4091 0000 lds r20,(IntegralNick)+2
		5600	5841 3012 5091 0000 lds r21,(IntegralNick)+3
		5601	5842 3016 820F add r24,r18
		5602	5843 3018 931F adc r25,r19
		5603	5844 301a A41F adc r26,r20
		5604	5845 301c B51F adc r27,r21
		5605	5846 301e 8093 0000 sts MittelIntegralNick,r24
		5606	5847 3022 9093 0000 sts (MittelIntegralNick)+1,r25
		5607	5848 3026 A093 0000 sts (MittelIntegralNick)+2,r26
		5608	5849 302a B093 0000 sts (MittelIntegralNick)+3,r27
		5609	5850 302e 8091 0000 lds r24,MittelIntegralRoll
		5610	5851 3032 9091 0000 lds r25,(MittelIntegralRoll)+1
		5611	5852 3036 A091 0000 lds r26,(MittelIntegralRoll)+2
		5612	5853 303a B091 0000 lds r27,(MittelIntegralRoll)+3
		5613	5854 303e E090 0000 lds r14,IntegralRoll
		5614	5855 3042 F090 0000 lds r15,(IntegralRoll)+1
		5615	5856 3046 0091 0000 lds r16,(IntegralRoll)+2
		5616	5857 304a 1091 0000 lds r17,(IntegralRoll)+3
		5617	5858 304e EB82 std Y+3,r14
		5618	5859 3050 FC82 std Y+4,r15
		5619	5860 3052 0D83 std Y+5,r16
		5620	5861 3054 1E83 std Y+6,r17
		5621	5862 3056 8E0D add r24,r14
		5622	5863 3058 9F1D adc r25,r15
		5623	5864 305a A01F adc r26,r16
		5624	5865 305c B11F adc r27,r17
		5625	5866 305e 8093 0000 sts MittelIntegralRoll,r24
		5626	5867 3062 9093 0000 sts (MittelIntegralRoll)+1,r25
		5627	5868 3066 A093 0000 sts (MittelIntegralRoll)+2,r26
		5628	5869 306a B093 0000 sts (MittelIntegralRoll)+3,r27
		5629	5870 306e 8091 0000 lds r24,MittelIntegralNick2
		5630	5871 3072 9091 0000 lds r25,(MittelIntegralNick2)+1
		5631	5872 3076 A091 0000 lds r26,(MittelIntegralNick2)+2
		5632	5873 307a B091 0000 lds r27,(MittelIntegralNick2)+3
		5633	5874 307e E090 0000 lds r14,IntegralNick2
		5634	5875 3082 F090 0000 lds r15,(IntegralNick2)+1
		5635	5876 3086 0091 0000 lds r16,(IntegralNick2)+2
		5636	5877 308a 1091 0000 lds r17,(IntegralNick2)+3
		5637	5878 308e EF82 std Y+7,r14
		5638	5879 3090 F886 std Y+8,r15
		5639	5880 3092 0987 std Y+9,r16
		5640	5881 3094 1A87 std Y+10,r17
		5641	5882 3096 8E0D add r24,r14
		5642	5883 3098 9F1D adc r25,r15
		5643	5884 309a A01F adc r26,r16
		5644	5885 309c B11F adc r27,r17
		5645	5886 309e 8093 0000 sts MittelIntegralNick2,r24
		5646	5887 30a2 9093 0000 sts (MittelIntegralNick2)+1,r25
		5647	5888 30a6 A093 0000 sts (MittelIntegralNick2)+2,r26
		5648	5889 30aa B093 0000 sts (MittelIntegralNick2)+3,r27
		5649	5890 30ae 8091 0000 lds r24,MittelIntegralRoll2
		5650	5891 30b2 9091 0000 lds r25,(MittelIntegralRoll2)+1
		5651	5892 30b6 A091 0000 lds r26,(MittelIntegralRoll2)+2
		5652	5893 30ba B091 0000 lds r27,(MittelIntegralRoll2)+3
		5653	5894 30be E090 0000 lds r14,IntegralRoll2
		5654	5895 30c2 F090 0000 lds r15,(IntegralRoll2)+1
		5655	5896 30c6 0091 0000 lds r16,(IntegralRoll2)+2
		5656	5897 30ca 1091 0000 lds r17,(IntegralRoll2)+3
		5657	5898 30ce EB86 std Y+11,r14
		5658	5899 30d0 FC86 std Y+12,r15
		5659	5900 30d2 0D87 std Y+13,r16
		5660	5901 30d4 1E87 std Y+14,r17
		5661	5902 30d6 8E0D add r24,r14
		5662	5903 30d8 9F1D adc r25,r15
		5663	5904 30da A01F adc r26,r16
		5664	5905 30dc B11F adc r27,r17
		5665	5906 30de 8093 0000 sts MittelIntegralRoll2,r24
		5666	5907 30e2 9093 0000 sts (MittelIntegralRoll2)+1,r25
		5667	5908 30e6 A093 0000 sts (MittelIntegralRoll2)+2,r26
		5668	5909 30ea B093 0000 sts (MittelIntegralRoll2)+3,r27
		5669	5910 30ee F090 0000 lds r15,Looping_Nick
		5670	5911 30f2 FF86 std Y+15,r15
		5671	5912 30f4 FF20 tst r15
		5672	5913 30f6 01F4 brne .L510
		5673	5914 30f8 8091 0000 lds r24,Looping_Roll
		5674	5915 30fc 8823 tst r24
		5675	5916 30fe 01F4 brne .+2
		5676	5917 3100 00C0 rjmp .L892
		5677	5918 .L510:
		5678	5919 3102 1092 0000 sts IntegralAccNick,__zero_reg__
		5679	5920 3106 1092 0000 sts (IntegralAccNick)+1,__zero_reg__
		5680	5921 310a 1092 0000 sts (IntegralAccNick)+2,__zero_reg__
		5681	5922 310e 1092 0000 sts (IntegralAccNick)+3,__zero_reg__
		5682	5923 3112 1092 0000 sts IntegralAccRoll,__zero_reg__
		5683	5924 3116 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__
		5684	5925 311a 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__
		5685	5926 311e 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__
		5686	5927 3122 1092 0000 sts MittelIntegralNick,__zero_reg__
		5687	5928 3126 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__
		5688	5929 312a 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__
		5689	5930 312e 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__
		5690	5931 3132 1092 0000 sts MittelIntegralRoll,__zero_reg__
		5691	5932 3136 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__
		5692	5933 313a 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__
		5693	5934 313e 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__
		5694	5935 3142 1092 0000 sts MittelIntegralNick2,__zero_reg__
		5695	5936 3146 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__
		5696	5937 314a 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__
		5697	5938 314e 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__
		5698	5939 3152 1092 0000 sts MittelIntegralRoll2,__zero_reg__
		5699	5940 3156 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__
		5700	5941 315a 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__
		5701	5942 315e 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__
		5702	5943 3162 8091 0000 lds r24,Mess_IntegralNick
		5703	5944 3166 9091 0000 lds r25,(Mess_IntegralNick)+1
		5704	5945 316a A091 0000 lds r26,(Mess_IntegralNick)+2
		5705	5946 316e B091 0000 lds r27,(Mess_IntegralNick)+3
		5706	5947 3172 8093 0000 sts Mess_IntegralNick2,r24
		5707	5948 3176 9093 0000 sts (Mess_IntegralNick2)+1,r25
		5708	5949 317a A093 0000 sts (Mess_IntegralNick2)+2,r26
		5709	5950 317e B093 0000 sts (Mess_IntegralNick2)+3,r27
		5710	5951 3182 8091 0000 lds r24,Mess_IntegralRoll
		5711	5952 3186 9091 0000 lds r25,(Mess_IntegralRoll)+1
		5712	5953 318a A091 0000 lds r26,(Mess_IntegralRoll)+2
		5713	5954 318e B091 0000 lds r27,(Mess_IntegralRoll)+3
		5714	5955 3192 8093 0000 sts Mess_IntegralRoll2,r24
		5715	5956 3196 9093 0000 sts (Mess_IntegralRoll2)+1,r25
		5716	5957 319a A093 0000 sts (Mess_IntegralRoll2)+2,r26
		5717	5958 319e B093 0000 sts (Mess_IntegralRoll2)+3,r27
		5718	5959 31a2 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__
		5719	5960 31a6 1092 0000 sts ZaehlMessungen,__zero_reg__
		5720	5961 31aa 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__
		5721	5962 31ae 1092 0000 sts LageKorrekturNick,__zero_reg__
		5722	5963 31b2 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__
		5723	5964 31b6 1092 0000 sts LageKorrekturRoll,__zero_reg__
		5724	5965 31ba 0F85 ldd r16,Y+15
		5725	5966 31bc 0023 tst r16
		5726	5967 31be 01F0 breq .+2
		5727	5968 31c0 00C0 rjmp .L511
		5728	5969 .L892:
		5729	5970 31c2 8091 0000 lds r24,Looping_Roll
		5730	5971 31c6 8823 tst r24
		5731	5972 31c8 01F0 breq .+2
		5732	5973 31ca 00C0 rjmp .L511
		5733	5974 31cc 8091 0000 lds r24,Aktuell_az
		5734	5975 31d0 9091 0000 lds r25,(Aktuell_az)+1
		5735	5976 31d4 8150 subi r24,lo8(513)
		5736	5977 31d6 9240 sbci r25,hi8(513)
		5737	5978 31d8 04F4 brge .L512
		5738	5979 31da 8091 0000 lds r24,MotorenEin
		5739	5980 31de 8823 tst r24
		5740	5981 31e0 01F4 brne .+2
		5741	5982 31e2 00C0 rjmp .L511
		5742	5983 .L512:
		5743	5984 31e4 9090 0000 lds r9,FromNaviCtrl_Value
		5744	5985 31e8 A090 0000 lds r10,EE_Parameter+28
		5745	5986 31ec 2090 0000 lds r2,Mittelwert_AccNick
		5746	5987 31f0 3090 0000 lds r3,(Mittelwert_AccNick)+1
		5747	5988 31f4 4090 0000 lds r4,Mittelwert_AccRoll
		5748	5989 31f8 5090 0000 lds r5,(Mittelwert_AccRoll)+1
		5749	5990 31fc 1914 cp __zero_reg__,r9
		5750	5991 31fe 04F0 brlt .+2
		5751	5992 3200 00C0 rjmp .L513
		5752	5993 3202 BB24 clr r11
		5753	5994 3204 CC24 clr r12
		5754	5995 3206 DD24 clr r13
		5755	5996 3208 CA01 movw r24,r20
		5756	5997 320a B901 movw r22,r18
		5757	5998 320c A601 movw r20,r12
		5758	5999 320e 9501 movw r18,r10
		5759	6000 3210 0E94 0000 call __divmodsi4
		5760	6001 3214 7901 movw r14,r18
		5761	6002 3216 8A01 movw r16,r20
		5762	6003 3218 8091 0000 lds r24,FromNaviCtrl+9
		5763	6004 321c 9091 0000 lds r25,(FromNaviCtrl+9)+1
		5764	6005 3220 281A sub r2,r24
		5765	6006 3222 390A sbc r3,r25
		5766	6007 3224 C101 movw r24,r2
		5767	6008 3226 AA27 clr r26
		5768	6009 3228 97FD sbrc r25,7
		5769	6010 322a A095 com r26
		5770	6011 322c BA2F mov r27,r26
		5771	6012 322e E81A sub r14,r24
		5772	6013 3230 F90A sbc r15,r25
		5773	6014 3232 0A0B sbc r16,r26
		5774	6015 3234 1B0B sbc r17,r27
		5775	6016 3236 6B81 ldd r22,Y+3
		5776	6017 3238 7C81 ldd r23,Y+4
		5777	6018 323a 8D81 ldd r24,Y+5
		5778	6019 323c 9E81 ldd r25,Y+6
		5779	6020 323e A601 movw r20,r12
		5780	6021 3240 9501 movw r18,r10
		5781	6022 3242 0E94 0000 call __divmodsi4
		5782	6023 3246 5901 movw r10,r18
		5783	6024 3248 6A01 movw r12,r20
		5784	6025 324a 8091 0000 lds r24,FromNaviCtrl+11
		5785	6026 324e 9091 0000 lds r25,(FromNaviCtrl+11)+1
		5786	6027 3252 481A sub r4,r24
		5787	6028 3254 590A sbc r5,r25
		5788	6029 3256 C201 movw r24,r4
		5789	6030 3258 AA27 clr r26
		5790	6031 325a 97FD sbrc r25,7
		5791	6032 325c A095 com r26
		5792	6033 325e BA2F mov r27,r26
		5793	6034 3260 A81A sub r10,r24
		5794	6035 3262 B90A sbc r11,r25
		5795	6036 3264 CA0A sbc r12,r26
		5796	6037 3266 DB0A sbc r13,r27
		5797	6038 3268 292C mov r2,r9
		5798	6039 326a 3324 clr r3
		5799	6040 326c 27FC sbrc r2,7
		5800	6041 326e 3094 com r3
		5801	6042 3270 432C mov r4,r3
		5802	6043 3272 532C mov r5,r3
		5803	6044 3274 C801 movw r24,r16
		5804	6045 3276 B701 movw r22,r14
		5805	6046 3278 A201 movw r20,r4
		5806	6047 327a 9101 movw r18,r2
		5807	6048 327c 0E94 0000 call __mulsi3
		5808	6049 3280 97FF sbrs r25,7
		5809	6050 3282 00C0 rjmp .L514
		5810	6051 3284 6150 subi r22,lo8(-(511))
		5811	6052 3286 7E4F sbci r23,hi8(-(511))
		5812	6053 3288 8F4F sbci r24,hlo8(-(511))
		5813	6054 328a 9F4F sbci r25,hhi8(-(511))
		5814	6055 .L514:
		5815	6056 328c 3B01 movw r6,r22
		5816	6057 328e 4C01 movw r8,r24
		5817	6058 3290 09E0 ldi r16,9
		5818	6059 3292 9594 1: asr r9
		5819	6060 3294 8794 ror r8
		5820	6061 3296 7794 ror r7
		5821	6062 3298 6794 ror r6
		5822	6063 329a 0A95 dec r16
		5823	6064 329c 01F4 brne 1b
		5824	6065 329e C601 movw r24,r12
		5825	6066 32a0 B501 movw r22,r10
		5826	6067 32a2 A201 movw r20,r4
		5827	6068 32a4 9101 movw r18,r2
		5828	6069 32a6 0E94 0000 call __mulsi3
		5829	6070 32aa 97FF sbrs r25,7
		5830	6071 32ac 00C0 rjmp .L515
		5831	6072 32ae 6150 subi r22,lo8(-(511))
		5832	6073 32b0 7E4F sbci r23,hi8(-(511))
		5833	6074 32b2 8F4F sbci r24,hlo8(-(511))
		5834	6075 32b4 9F4F sbci r25,hhi8(-(511))
		5835	6076 .L515:
		5836	6077 32b6 5B01 movw r10,r22
		5837	6078 32b8 6C01 movw r12,r24
		5838	6079 32ba 19E0 ldi r17,9
		5839	6080 32bc D594 1: asr r13
		5840	6081 32be C794 ror r12
		5841	6082 32c0 B794 ror r11
		5842	6083 32c2 A794 ror r10
		5843	6084 32c4 1A95 dec r17
		5844	6085 32c6 01F4 brne 1b
		5845	6086 32c8 8091 0000 lds r24,MaxStickNick
		5846	6087 32cc 9091 0000 lds r25,(MaxStickNick)+1
		5847	6088 32d0 8134 cpi r24,65
		5848	6089 32d2 9105 cpc r25,__zero_reg__
		5849	6090 32d4 04F4 brge .L517
		5850	6091 32d6 8091 0000 lds r24,MaxStickRoll
		5851	6092 32da 9091 0000 lds r25,(MaxStickRoll)+1
		5852	6093 32de 8134 cpi r24,65
		5853	6094 32e0 9105 cpc r25,__zero_reg__
		5854	6095 32e2 04F0 brlt .L516
		5855	6096 .L517:
		5856	6097 32e4 D401 movw r26,r8
		5857	6098 32e6 C301 movw r24,r6
		5858	6099 32e8 97FE sbrs r9,7
		5859	6100 32ea 00C0 rjmp .L518
		5860	6101 32ec 0196 adiw r24,1
		5861	6102 32ee A11D adc r26,__zero_reg__
		5862	6103 32f0 B11D adc r27,__zero_reg__
		5863	6104 .L518:
		5864	6105 32f2 3C01 movw r6,r24
		5865	6106 32f4 4D01 movw r8,r26
		5866	6107 32f6 9594 asr r9
		5867	6108 32f8 8794 ror r8
		5868	6109 32fa 7794 ror r7
		5869	6110 32fc 6794 ror r6
		5870	6111 32fe D601 movw r26,r12
		5871	6112 3300 C501 movw r24,r10
		5872	6113 3302 D7FE sbrs r13,7
		5873	6114 3304 00C0 rjmp .L519
		5874	6115 3306 0196 adiw r24,1
		5875	6116 3308 A11D adc r26,__zero_reg__
		5876	6117 330a B11D adc r27,__zero_reg__
		5877	6118 .L519:
		5878	6119 330c 5C01 movw r10,r24
		5879	6120 330e 6D01 movw r12,r26
		5880	6121 3310 D594 asr r13
		5881	6122 3312 C794 ror r12
		5882	6123 3314 B794 ror r11
		5883	6124 3316 A794 ror r10
		5884	6125 .L516:
		5885	6126 3318 8091 0000 lds r24,FromNaviCtrl_Value+2
		5886	6127 331c 282F mov r18,r24
		5887	6128 331e 3327 clr r19
		5888	6129 3320 27FD sbrc r18,7
		5889	6130 3322 3095 com r19
		5890	6131 3324 432F mov r20,r19
		5891	6132 3326 532F mov r21,r19
		5892	6133 3328 2615 cp r18,r6
		5893	6134 332a 3705 cpc r19,r7
		5894	6135 332c 4805 cpc r20,r8
		5895	6136 332e 5905 cpc r21,r9
		5896	6137 3330 04F4 brge .L520
		5897	6138 3332 3901 movw r6,r18
		5898	6139 3334 4A01 movw r8,r20
		5899	6140 .L520:
		5900	6141 3336 9927 clr r25
		5901	6142 3338 87FD sbrc r24,7
		5902	6143 333a 9095 com r25
		5903	6144 333c 9095 com r25
		5904	6145 333e 8195 neg r24
		5905	6146 3340 9F4F sbci r25,lo8(-1)
		5906	6147 3342 AA27 clr r26
		5907	6148 3344 97FD sbrc r25,7
		5908	6149 3346 A095 com r26
		5909	6150 3348 BA2F mov r27,r26
		5910	6151 334a 6816 cp r6,r24
		5911	6152 334c 7906 cpc r7,r25
		5912	6153 334e 8A06 cpc r8,r26
		5913	6154 3350 9B06 cpc r9,r27
		5914	6155 3352 04F4 brge .L521
		5915	6156 3354 3C01 movw r6,r24
		5916	6157 3356 4D01 movw r8,r26
		5917	6158 .L521:
		5918	6159 3358 2A15 cp r18,r10
		5919	6160 335a 3B05 cpc r19,r11
		5920	6161 335c 4C05 cpc r20,r12
		5921	6162 335e 5D05 cpc r21,r13
		5922	6163 3360 04F4 brge .L522
		5923	6164 3362 5901 movw r10,r18
		5924	6165 3364 6A01 movw r12,r20
		5925	6166 .L522:
		5926	6167 3366 A816 cp r10,r24
		5927	6168 3368 B906 cpc r11,r25
		5928	6169 336a CA06 cpc r12,r26
		5929	6170 336c DB06 cpc r13,r27
		5930	6171 336e 04F0 brlt .+2
		5931	6172 3370 00C0 rjmp .L524
		5932	6173 3372 5C01 movw r10,r24
		5933	6174 3374 6D01 movw r12,r26
		5934	6175 3376 00C0 rjmp .L524
		5935	6176 .L513:
		5936	6177 3378 EA2C mov r14,r10
		5937	6178 337a FF24 clr r15
		5938	6179 337c 0027 clr r16
		5939	6180 337e 1127 clr r17
		5940	6181 3380 CA01 movw r24,r20
		5941	6182 3382 B901 movw r22,r18
		5942	6183 3384 A801 movw r20,r16
		5943	6184 3386 9701 movw r18,r14
		5944	6185 3388 0E94 0000 call __divmodsi4
		5945	6186 338c 3901 movw r6,r18
		5946	6187 338e 4A01 movw r8,r20
		5947	6188 3390 C101 movw r24,r2
		5948	6189 3392 AA27 clr r26
		5949	6190 3394 97FD sbrc r25,7
		5950	6191 3396 A095 com r26
		5951	6192 3398 BA2F mov r27,r26
		5952	6193 339a 681A sub r6,r24
		5953	6194 339c 790A sbc r7,r25
		5954	6195 339e 8A0A sbc r8,r26
		5955	6196 33a0 9B0A sbc r9,r27
		5956	6197 33a2 6B81 ldd r22,Y+3
		5957	6198 33a4 7C81 ldd r23,Y+4
		5958	6199 33a6 8D81 ldd r24,Y+5
		5959	6200 33a8 9E81 ldd r25,Y+6
		5960	6201 33aa A801 movw r20,r16
		5961	6202 33ac 9701 movw r18,r14
		5962	6203 33ae 0E94 0000 call __divmodsi4
		5963	6204 33b2 5901 movw r10,r18
		5964	6205 33b4 6A01 movw r12,r20
		5965	6206 33b6 C201 movw r24,r4
		5966	6207 33b8 AA27 clr r26
		5967	6208 33ba 97FD sbrc r25,7
		5968	6209 33bc A095 com r26
		5969	6210 33be BA2F mov r27,r26
		5970	6211 33c0 A81A sub r10,r24
		5971	6212 33c2 B90A sbc r11,r25
		5972	6213 33c4 CA0A sbc r12,r26
		5973	6214 33c6 DB0A sbc r13,r27
		5974	6215 33c8 D401 movw r26,r8
		5975	6216 33ca C301 movw r24,r6
		5976	6217 33cc 97FE sbrs r9,7
		5977	6218 33ce 00C0 rjmp .L525
		5978	6219 33d0 0F96 adiw r24,15
		5979	6220 33d2 A11D adc r26,__zero_reg__
		5980	6221 33d4 B11D adc r27,__zero_reg__
		5981	6222 .L525:
		5982	6223 33d6 3C01 movw r6,r24
		5983	6224 33d8 4D01 movw r8,r26
		5984	6225 33da F4E0 ldi r31,4
		5985	6226 33dc 9594 1: asr r9
		5986	6227 33de 8794 ror r8
		5987	6228 33e0 7794 ror r7
		5988	6229 33e2 6794 ror r6
		5989	6230 33e4 FA95 dec r31
		5990	6231 33e6 01F4 brne 1b
		5991	6232 33e8 D601 movw r26,r12
		5992	6233 33ea C501 movw r24,r10
		5993	6234 33ec D7FE sbrs r13,7
		5994	6235 33ee 00C0 rjmp .L526
		5995	6236 33f0 0F96 adiw r24,15
		5996	6237 33f2 A11D adc r26,__zero_reg__
		5997	6238 33f4 B11D adc r27,__zero_reg__
		5998	6239 .L526:
		5999	6240 33f6 5C01 movw r10,r24
		6000	6241 33f8 6D01 movw r12,r26
		6001	6242 33fa E4E0 ldi r30,4
		6002	6243 33fc D594 1: asr r13
		6003	6244 33fe C794 ror r12
		6004	6245 3400 B794 ror r11
		6005	6246 3402 A794 ror r10
		6006	6247 3404 EA95 dec r30
		6007	6248 3406 01F4 brne 1b
		6008	6249 3408 8091 0000 lds r24,MaxStickNick
		6009	6250 340c 9091 0000 lds r25,(MaxStickNick)+1
		6010	6251 3410 8134 cpi r24,65
		6011	6252 3412 9105 cpc r25,__zero_reg__
		6012	6253 3414 04F4 brge .L528
		6013	6254 3416 8091 0000 lds r24,MaxStickRoll
		6014	6255 341a 9091 0000 lds r25,(MaxStickRoll)+1
		6015	6256 341e 8134 cpi r24,65
		6016	6257 3420 9105 cpc r25,__zero_reg__
		6017	6258 3422 04F0 brlt .L527
		6018	6259 .L528:
		6019	6260 3424 C401 movw r24,r8
		6020	6261 3426 B301 movw r22,r6
		6021	6262 3428 23E0 ldi r18,lo8(3)
		6022	6263 342a 30E0 ldi r19,hi8(3)
		6023	6264 342c 40E0 ldi r20,hlo8(3)
		6024	6265 342e 50E0 ldi r21,hhi8(3)
		6025	6266 3430 0E94 0000 call __divmodsi4
		6026	6267 3434 3901 movw r6,r18
		6027	6268 3436 4A01 movw r8,r20
		6028	6269 3438 C601 movw r24,r12
		6029	6270 343a B501 movw r22,r10
		6030	6271 343c 23E0 ldi r18,lo8(3)
		6031	6272 343e 30E0 ldi r19,hi8(3)
		6032	6273 3440 40E0 ldi r20,hlo8(3)
		6033	6274 3442 50E0 ldi r21,hhi8(3)
		6034	6275 3444 0E94 0000 call __divmodsi4
		6035	6276 3448 5901 movw r10,r18
		6036	6277 344a 6A01 movw r12,r20
		6037	6278 .L527:
		6038	6279 344c 8091 0000 lds r24,EE_Parameter+4
		6039	6280 3450 E82F mov r30,r24
		6040	6281 3452 FF27 clr r31
		6041	6282 3454 EE0F add r30,r30
		6042	6283 3456 FF1F adc r31,r31
		6043	6284 3458 E050 subi r30,lo8(-(PPM_in))
		6044	6285 345a F040 sbci r31,hi8(-(PPM_in))
		6045	6286 345c 8081 ld r24,Z
		6046	6287 345e 9181 ldd r25,Z+1
		6047	6288 3460 0190 ld __tmp_reg__,Z+
		6048	6289 3462 F081 ld r31,Z
		6049	6290 3464 E02D mov r30,__tmp_reg__
		6050	6291 3466 F7FF sbrs r31,7
		6051	6292 3468 00C0 rjmp .L530
		6052	6293 346a F095 com r31
		6053	6294 346c E195 neg r30
		6054	6295 346e FF4F sbci r31,lo8(-1)
		6055	6296 .L530:
		6056	6297 3470 7A97 sbiw r30,26
		6057	6298 3472 04F0 brlt .L529
		6058	6299 3474 C401 movw r24,r8
		6059	6300 3476 B301 movw r22,r6
		6060	6301 3478 23E0 ldi r18,lo8(3)
		6061	6302 347a 30E0 ldi r19,hi8(3)
		6062	6303 347c 40E0 ldi r20,hlo8(3)
		6063	6304 347e 50E0 ldi r21,hhi8(3)
		6064	6305 3480 0E94 0000 call __divmodsi4
		6065	6306 3484 3901 movw r6,r18
		6066	6307 3486 4A01 movw r8,r20
		6067	6308 3488 C601 movw r24,r12
		6068	6309 348a B501 movw r22,r10
		6069	6310 348c 23E0 ldi r18,lo8(3)
		6070	6311 348e 30E0 ldi r19,hi8(3)
		6071	6312 3490 40E0 ldi r20,hlo8(3)
		6072	6313 3492 50E0 ldi r21,hhi8(3)
		6073	6314 3494 0E94 0000 call __divmodsi4
		6074	6315 3498 5901 movw r10,r18
		6075	6316 349a 6A01 movw r12,r20
		6076	6317 .L529:
		6077	6318 349c 89E1 ldi r24,lo8(25)
		6078	6319 349e 8093 0000 sts KompassFusion,r24
		6079	6320 34a2 21E2 ldi r18,lo8(33)
		6080	6321 34a4 6216 cp r6,r18
		6081	6322 34a6 7104 cpc r7,__zero_reg__
		6082	6323 34a8 8104 cpc r8,__zero_reg__
		6083	6324 34aa 9104 cpc r9,__zero_reg__
		6084	6325 34ac 04F0 brlt .L531
		6085	6326 34ae 70E2 ldi r23,lo8(32)
		6086	6327 34b0 672E mov r6,r23
		6087	6328 34b2 712C mov r7,__zero_reg__
		6088	6329 34b4 812C mov r8,__zero_reg__
		6089	6330 34b6 912C mov r9,__zero_reg__
		6090	6331 .L531:
		6091	6332 34b8 30EE ldi r19,lo8(-32)
		6092	6333 34ba 6316 cp r6,r19
		6093	6334 34bc 3FEF ldi r19,hi8(-32)
		6094	6335 34be 7306 cpc r7,r19
		6095	6336 34c0 3FEF ldi r19,hlo8(-32)
		6096	6337 34c2 8306 cpc r8,r19
		6097	6338 34c4 3FEF ldi r19,hhi8(-32)
		6098	6339 34c6 9306 cpc r9,r19
		6099	6340 34c8 04F4 brge .L532
		6100	6341 34ca 60EE ldi r22,lo8(-32)
		6101	6342 34cc 662E mov r6,r22
		6102	6343 34ce 6FEF ldi r22,hi8(-32)
		6103	6344 34d0 762E mov r7,r22
		6104	6345 34d2 6FEF ldi r22,hlo8(-32)
		6105	6346 34d4 862E mov r8,r22
		6106	6347 34d6 6FEF ldi r22,hhi8(-32)
		6107	6348 34d8 962E mov r9,r22
		6108	6349 .L532:
		6109	6350 34da 41E2 ldi r20,lo8(33)
		6110	6351 34dc A416 cp r10,r20
		6111	6352 34de B104 cpc r11,__zero_reg__
		6112	6353 34e0 C104 cpc r12,__zero_reg__
		6113	6354 34e2 D104 cpc r13,__zero_reg__
		6114	6355 34e4 04F0 brlt .L533
		6115	6356 34e6 50E2 ldi r21,lo8(32)
		6116	6357 34e8 A52E mov r10,r21
		6117	6358 34ea B12C mov r11,__zero_reg__
		6118	6359 34ec C12C mov r12,__zero_reg__
		6119	6360 34ee D12C mov r13,__zero_reg__
		6120	6361 .L533:
		6121	6362 34f0 50EE ldi r21,lo8(-32)
		6122	6363 34f2 A516 cp r10,r21
		6123	6364 34f4 5FEF ldi r21,hi8(-32)
		6124	6365 34f6 B506 cpc r11,r21
		6125	6366 34f8 5FEF ldi r21,hlo8(-32)
		6126	6367 34fa C506 cpc r12,r21
		6127	6368 34fc 5FEF ldi r21,hhi8(-32)
		6128	6369 34fe D506 cpc r13,r21
		6129	6370 3500 04F4 brge .L524
		6130	6371 3502 40EE ldi r20,lo8(-32)
		6131	6372 3504 A42E mov r10,r20
		6132	6373 3506 4FEF ldi r20,hi8(-32)
		6133	6374 3508 B42E mov r11,r20
		6134	6375 350a 4FEF ldi r20,hlo8(-32)
		6135	6376 350c C42E mov r12,r20
		6136	6377 350e 4FEF ldi r20,hhi8(-32)
		6137	6378 3510 D42E mov r13,r20
		6138	6379 .L524:
		6139	6380 3512 8091 0000 lds r24,Mess_IntegralNick
		6140	6381 3516 9091 0000 lds r25,(Mess_IntegralNick)+1
		6141	6382 351a A091 0000 lds r26,(Mess_IntegralNick)+2
		6142	6383 351e B091 0000 lds r27,(Mess_IntegralNick)+3
		6143	6384 3522 8619 sub r24,r6
		6144	6385 3524 9709 sbc r25,r7
		6145	6386 3526 A809 sbc r26,r8
		6146	6387 3528 B909 sbc r27,r9
		6147	6388 352a 8093 0000 sts Mess_IntegralNick,r24
		6148	6389 352e 9093 0000 sts (Mess_IntegralNick)+1,r25
		6149	6390 3532 A093 0000 sts (Mess_IntegralNick)+2,r26
		6150	6391 3536 B093 0000 sts (Mess_IntegralNick)+3,r27
		6151	6392 353a 8091 0000 lds r24,Mess_IntegralRoll
		6152	6393 353e 9091 0000 lds r25,(Mess_IntegralRoll)+1
		6153	6394 3542 A091 0000 lds r26,(Mess_IntegralRoll)+2
		6154	6395 3546 B091 0000 lds r27,(Mess_IntegralRoll)+3
		6155	6396 354a 8A19 sub r24,r10
		6156	6397 354c 9B09 sbc r25,r11
		6157	6398 354e AC09 sbc r26,r12
		6158	6399 3550 BD09 sbc r27,r13
		6159	6400 3552 8093 0000 sts Mess_IntegralRoll,r24
		6160	6401 3556 9093 0000 sts (Mess_IntegralRoll)+1,r25
		6161	6402 355a A093 0000 sts (Mess_IntegralRoll)+2,r26
		6162	6403 355e B093 0000 sts (Mess_IntegralRoll)+3,r27
		6163	6404 .L511:
		6164	6405 3562 8091 0000 lds r24,ZaehlMessungen
		6165	6406 3566 9091 0000 lds r25,(ZaehlMessungen)+1
		6166	6407 356a 8F3F cpi r24,255
		6167	6408 356c 9105 cpc r25,__zero_reg__
		6168	6409 356e 01F0 breq .+2
		6169	6410 3570 00F4 brsh .+2
		6170	6411 3572 00C0 rjmp .L535
		6171	6412 3574 6F85 ldd r22,Y+15
		6172	6413 3576 6623 tst r22
		6173	6414 3578 01F0 breq .+2
		6174	6415 357a 00C0 rjmp .L536
		6175	6416 357c 8091 0000 lds r24,Looping_Roll
		6176	6417 3580 8823 tst r24
		6177	6418 3582 01F0 breq .+2
		6178	6419 3584 00C0 rjmp .L536
		6179	6420 3586 8091 0000 lds r24,TrichterFlug
		6180	6421 358a 8823 tst r24
		6181	6422 358c 01F0 breq .+2
		6182	6423 358e 00C0 rjmp .L536
		6183	6424 3590 7091 0000 lds r23,EE_Parameter+68
		6184	6425 3594 788B std Y+16,r23
		6185	6426 3596 7723 tst r23
		6186	6427 3598 01F4 brne .+2
		6187	6428 359a 00C0 rjmp .L536
		6188	6429 359c 8091 0000 lds r24,MittelIntegralNick
		6189	6430 35a0 9091 0000 lds r25,(MittelIntegralNick)+1
		6190	6431 35a4 A091 0000 lds r26,(MittelIntegralNick)+2
		6191	6432 35a8 B091 0000 lds r27,(MittelIntegralNick)+3
		6192	6433 35ac B7FF sbrs r27,7
		6193	6434 35ae 00C0 rjmp .L537
		6194	6435 35b0 8150 subi r24,lo8(-(255))
		6195	6436 35b2 9F4F sbci r25,hi8(-(255))
		6196	6437 35b4 AF4F sbci r26,hlo8(-(255))
		6197	6438 35b6 BF4F sbci r27,hhi8(-(255))
		6198	6439 .L537:
		6199	6440 35b8 E92E mov r14,r25
		6200	6441 35ba FA2E mov r15,r26
		6201	6442 35bc 0B2F mov r16,r27
		6202	6443 35be 1127 clr r17
		6203	6444 35c0 07FD sbrc r16,7
		6204	6445 35c2 1A95 dec r17
		6205	6446 35c4 E092 0000 sts MittelIntegralNick,r14
		6206	6447 35c8 F092 0000 sts (MittelIntegralNick)+1,r15
		6207	6448 35cc 0093 0000 sts (MittelIntegralNick)+2,r16
		6208	6449 35d0 1093 0000 sts (MittelIntegralNick)+3,r17
		6209	6450 35d4 8091 0000 lds r24,MittelIntegralRoll
		6210	6451 35d8 9091 0000 lds r25,(MittelIntegralRoll)+1
		6211	6452 35dc A091 0000 lds r26,(MittelIntegralRoll)+2
		6212	6453 35e0 B091 0000 lds r27,(MittelIntegralRoll)+3
		6213	6454 35e4 B7FF sbrs r27,7
		6214	6455 35e6 00C0 rjmp .L538
		6215	6456 35e8 8150 subi r24,lo8(-(255))
		6216	6457 35ea 9F4F sbci r25,hi8(-(255))
		6217	6458 35ec AF4F sbci r26,hlo8(-(255))
		6218	6459 35ee BF4F sbci r27,hhi8(-(255))
		6219	6460 .L538:
		6220	6461 35f0 892F mov r24,r25
		6221	6462 35f2 9A2F mov r25,r26
		6222	6463 35f4 AB2F mov r26,r27
		6223	6464 35f6 BB27 clr r27
		6224	6465 35f8 A7FD sbrc r26,7
		6225	6466 35fa BA95 dec r27
		6226	6467 35fc 898B std Y+17,r24
		6227	6468 35fe 9A8B std Y+18,r25
		6228	6469 3600 AB8B std Y+19,r26
		6229	6470 3602 BC8B std Y+20,r27
		6230	6471 3604 8093 0000 sts MittelIntegralRoll,r24
		6231	6472 3608 9093 0000 sts (MittelIntegralRoll)+1,r25
		6232	6473 360c A093 0000 sts (MittelIntegralRoll)+2,r26
		6233	6474 3610 B093 0000 sts (MittelIntegralRoll)+3,r27
		6234	6475 3614 8091 0000 lds r24,EE_Parameter+28
		6235	6476 3618 A82E mov r10,r24
		6236	6477 361a BB24 clr r11
		6237	6478 361c CC24 clr r12
		6238	6479 361e DD24 clr r13
		6239	6480 3620 2091 0000 lds r18,IntegralAccNick
		6240	6481 3624 3091 0000 lds r19,(IntegralAccNick)+1
		6241	6482 3628 4091 0000 lds r20,(IntegralAccNick)+2
		6242	6483 362c 5091 0000 lds r21,(IntegralAccNick)+3
		6243	6484 3630 C601 movw r24,r12
		6244	6485 3632 B501 movw r22,r10
		6245	6486 3634 0E94 0000 call __mulsi3
		6246	6487 3638 97FF sbrs r25,7
		6247	6488 363a 00C0 rjmp .L539
		6248	6489 363c 6150 subi r22,lo8(-(255))
		6249	6490 363e 7F4F sbci r23,hi8(-(255))
		6250	6491 3640 8F4F sbci r24,hlo8(-(255))
		6251	6492 3642 9F4F sbci r25,hhi8(-(255))
		6252	6493 .L539:
		6253	6494 3644 672E mov r6,r23
		6254	6495 3646 782E mov r7,r24
		6255	6496 3648 892E mov r8,r25
		6256	6497 364a 9924 clr r9
		6257	6498 364c 87FC sbrc r8,7
		6258	6499 364e 9A94 dec r9
		6259	6500 3650 6092 0000 sts IntegralAccNick,r6
		6260	6501 3654 7092 0000 sts (IntegralAccNick)+1,r7
		6261	6502 3658 8092 0000 sts (IntegralAccNick)+2,r8
		6262	6503 365c 9092 0000 sts (IntegralAccNick)+3,r9
		6263	6504 3660 2091 0000 lds r18,IntegralAccRoll
		6264	6505 3664 3091 0000 lds r19,(IntegralAccRoll)+1
		6265	6506 3668 4091 0000 lds r20,(IntegralAccRoll)+2
		6266	6507 366c 5091 0000 lds r21,(IntegralAccRoll)+3
		6267	6508 3670 C601 movw r24,r12
		6268	6509 3672 B501 movw r22,r10
		6269	6510 3674 0E94 0000 call __mulsi3
		6270	6511 3678 97FF sbrs r25,7
		6271	6512 367a 00C0 rjmp .L540
		6272	6513 367c 6150 subi r22,lo8(-(255))
		6273	6514 367e 7F4F sbci r23,hi8(-(255))
		6274	6515 3680 8F4F sbci r24,hlo8(-(255))
		6275	6516 3682 9F4F sbci r25,hhi8(-(255))
		6276	6517 .L540:
		6277	6518 3684 272E mov r2,r23
		6278	6519 3686 382E mov r3,r24
		6279	6520 3688 492E mov r4,r25
		6280	6521 368a 5524 clr r5
		6281	6522 368c 47FC sbrc r4,7
		6282	6523 368e 5A94 dec r5
		6283	6524 3690 2092 0000 sts IntegralAccRoll,r2
		6284	6525 3694 3092 0000 sts (IntegralAccRoll)+1,r3
		6285	6526 3698 4092 0000 sts (IntegralAccRoll)+2,r4
		6286	6527 369c 5092 0000 sts (IntegralAccRoll)+3,r5
		6287	6528 36a0 8091 0000 lds r24,IntegralAccZ
		6288	6529 36a4 9091 0000 lds r25,(IntegralAccZ)+1
		6289	6530 36a8 A091 0000 lds r26,(IntegralAccZ)+2
		6290	6531 36ac B091 0000 lds r27,(IntegralAccZ)+3
		6291	6532 36b0 B7FF sbrs r27,7
		6292	6533 36b2 00C0 rjmp .L541
		6293	6534 36b4 8150 subi r24,lo8(-(255))
		6294	6535 36b6 9F4F sbci r25,hi8(-(255))
		6295	6536 36b8 AF4F sbci r26,hlo8(-(255))
		6296	6537 36ba BF4F sbci r27,hhi8(-(255))
		6297	6538 .L541:
		6298	6539 36bc 892F mov r24,r25
		6299	6540 36be 9A2F mov r25,r26
		6300	6541 36c0 AB2F mov r26,r27
		6301	6542 36c2 BB27 clr r27
		6302	6543 36c4 A7FD sbrc r26,7
		6303	6544 36c6 BA95 dec r27
		6304	6545 36c8 8093 0000 sts IntegralAccZ,r24
		6305	6546 36cc 9093 0000 sts (IntegralAccZ)+1,r25
		6306	6547 36d0 A093 0000 sts (IntegralAccZ)+2,r26
		6307	6548 36d4 B093 0000 sts (IntegralAccZ)+3,r27
		6308	6549 36d8 D801 movw r26,r16
		6309	6550 36da C701 movw r24,r14
		6310	6551 36dc 8619 sub r24,r6
		6311	6552 36de 9709 sbc r25,r7
		6312	6553 36e0 A809 sbc r26,r8
		6313	6554 36e2 B909 sbc r27,r9
		6314	6555 36e4 8093 0000 sts IntegralFehlerNick.3,r24
		6315	6556 36e8 9093 0000 sts (IntegralFehlerNick.3)+1,r25
		6316	6557 36ec A093 0000 sts (IntegralFehlerNick.3)+2,r26
		6317	6558 36f0 B093 0000 sts (IntegralFehlerNick.3)+3,r27
		6318	6559 36f4 2091 0000 lds r18,EE_Parameter+67
		6319	6560 36f8 E22E mov r14,r18
		6320	6561 36fa FF24 clr r15
		6321	6562 36fc 0027 clr r16
		6322	6563 36fe 1127 clr r17
		6323	6564 3700 BC01 movw r22,r24
		6324	6565 3702 CD01 movw r24,r26
		6325	6566 3704 A801 movw r20,r16
		6326	6567 3706 9701 movw r18,r14
		6327	6568 3708 0E94 0000 call __divmodsi4
		6328	6569 370c 5901 movw r10,r18
		6329	6570 370e 6A01 movw r12,r20
		6330	6571 3710 2093 0000 sts ausgleichNick.10,r18
		6331	6572 3714 3093 0000 sts (ausgleichNick.10)+1,r19
		6332	6573 3718 4093 0000 sts (ausgleichNick.10)+2,r20
		6333	6574 371c 5093 0000 sts (ausgleichNick.10)+3,r21
		6334	6575 3720 8989 ldd r24,Y+17
		6335	6576 3722 9A89 ldd r25,Y+18
		6336	6577 3724 AB89 ldd r26,Y+19
		6337	6578 3726 BC89 ldd r27,Y+20
		6338	6579 3728 8219 sub r24,r2
		6339	6580 372a 9309 sbc r25,r3
		6340	6581 372c A409 sbc r26,r4
		6341	6582 372e B509 sbc r27,r5
		6342	6583 3730 8093 0000 sts IntegralFehlerRoll.4,r24
		6343	6584 3734 9093 0000 sts (IntegralFehlerRoll.4)+1,r25
		6344	6585 3738 A093 0000 sts (IntegralFehlerRoll.4)+2,r26
		6345	6586 373c B093 0000 sts (IntegralFehlerRoll.4)+3,r27
		6346	6587 3740 BC01 movw r22,r24
		6347	6588 3742 CD01 movw r24,r26
		6348	6589 3744 A801 movw r20,r16
		6349	6590 3746 9701 movw r18,r14
		6350	6591 3748 0E94 0000 call __divmodsi4
		6351	6592 374c 2093 0000 sts ausgleichRoll.11,r18
		6352	6593 3750 3093 0000 sts (ausgleichRoll.11)+1,r19
		6353	6594 3754 4093 0000 sts (ausgleichRoll.11)+2,r20
		6354	6595 3758 5093 0000 sts (ausgleichRoll.11)+3,r21
		6355	6596 375c D601 movw r26,r12
		6356	6597 375e C501 movw r24,r10
		6357	6598 3760 D7FE sbrs r13,7
		6358	6599 3762 00C0 rjmp .L542
		6359	6600 3764 8150 subi r24,lo8(-(255))
		6360	6601 3766 9F4F sbci r25,hi8(-(255))
		6361	6602 3768 AF4F sbci r26,hlo8(-(255))
		6362	6603 376a BF4F sbci r27,hhi8(-(255))
		6363	6604 .L542:
		6364	6605 376c 892F mov r24,r25
		6365	6606 376e 9A2F mov r25,r26
		6366	6607 3770 AB2F mov r26,r27
		6367	6608 3772 BB27 clr r27
		6368	6609 3774 A7FD sbrc r26,7
		6369	6610 3776 BA95 dec r27
		6370	6611 3778 9093 0000 sts (LageKorrekturNick)+1,r25
		6371	6612 377c 8093 0000 sts LageKorrekturNick,r24
		6372	6613 3780 57FF sbrs r21,7
		6373	6614 3782 00C0 rjmp .L543
		6374	6615 3784 2150 subi r18,lo8(-(255))
		6375	6616 3786 3F4F sbci r19,hi8(-(255))
		6376	6617 3788 4F4F sbci r20,hlo8(-(255))
		6377	6618 378a 5F4F sbci r21,hhi8(-(255))
		6378	6619 .L543:
		6379	6620 378c BB27 clr r27
		6380	6621 378e 57FD sbrc r21,7
		6381	6622 3790 BA95 dec r27
		6382	6623 3792 A52F mov r26,r21
		6383	6624 3794 942F mov r25,r20
		6384	6625 3796 832F mov r24,r19
		6385	6626 3798 9093 0000 sts (LageKorrekturRoll)+1,r25
		6386	6627 379c 8093 0000 sts LageKorrekturRoll,r24
		6387	6628 37a0 8091 0000 lds r24,MaxStickNick
		6388	6629 37a4 9091 0000 lds r25,(MaxStickNick)+1
		6389	6630 37a8 8134 cpi r24,65
		6390	6631 37aa 9105 cpc r25,__zero_reg__
		6391	6632 37ac 04F4 brge .L545
		6392	6633 37ae 8091 0000 lds r24,MaxStickRoll
		6393	6634 37b2 9091 0000 lds r25,(MaxStickRoll)+1
		6394	6635 37b6 8134 cpi r24,65
		6395	6636 37b8 9105 cpc r25,__zero_reg__
		6396	6637 37ba 04F4 brge .L545
		6397	6638 37bc 8091 0000 lds r24,EE_Parameter+4
		6398	6639 37c0 E82F mov r30,r24
		6399	6640 37c2 FF27 clr r31
		6400	6641 37c4 EE0F add r30,r30
		6401	6642 37c6 FF1F adc r31,r31
		6402	6643 37c8 E050 subi r30,lo8(-(PPM_in))
		6403	6644 37ca F040 sbci r31,hi8(-(PPM_in))
		6404	6645 37cc 8081 ld r24,Z
		6405	6646 37ce 9181 ldd r25,Z+1
		6406	6647 37d0 0190 ld __tmp_reg__,Z+
		6407	6648 37d2 F081 ld r31,Z
		6408	6649 37d4 E02D mov r30,__tmp_reg__
		6409	6650 37d6 F7FF sbrs r31,7
		6410	6651 37d8 00C0 rjmp .L546
		6411	6652 37da F095 com r31
		6412	6653 37dc E195 neg r30
		6413	6654 37de FF4F sbci r31,lo8(-1)
		6414	6655 .L546:
		6415	6656 37e0 7A97 sbiw r30,26
		6416	6657 37e2 04F0 brlt .L544
		6417	6658 .L545:
		6418	6659 37e4 8091 0000 lds r24,FromNaviCtrl_Value
		6419	6660 37e8 8F3F cpi r24,lo8(-1)
		6420	6661 37ea 01F4 brne .L544
		6421	6662 37ec 8091 0000 lds r24,LageKorrekturNick
		6422	6663 37f0 9091 0000 lds r25,(LageKorrekturNick)+1
		6423	6664 37f4 97FD sbrc r25,7
		6424	6665 37f6 0196 adiw r24,1
		6425	6666 .L547:
		6426	6667 37f8 9595 asr r25
		6427	6668 37fa 8795 ror r24
		6428	6669 37fc 9093 0000 sts (LageKorrekturNick)+1,r25
		6429	6670 3800 8093 0000 sts LageKorrekturNick,r24
		6430	6671 3804 8091 0000 lds r24,LageKorrekturRoll
		6431	6672 3808 9091 0000 lds r25,(LageKorrekturRoll)+1
		6432	6673 380c 97FD sbrc r25,7
		6433	6674 380e 0196 adiw r24,1
		6434	6675 .L548:
		6435	6676 3810 9595 asr r25
		6436	6677 3812 8795 ror r24
		6437	6678 3814 9093 0000 sts (LageKorrekturRoll)+1,r25
		6438	6679 3818 8093 0000 sts LageKorrekturRoll,r24
		6439	6680 .L544:
		6440	6681 381c 8091 0000 lds r24,MittelIntegralNick2
		6441	6682 3820 9091 0000 lds r25,(MittelIntegralNick2)+1
		6442	6683 3824 A091 0000 lds r26,(MittelIntegralNick2)+2
		6443	6684 3828 B091 0000 lds r27,(MittelIntegralNick2)+3
		6444	6685 382c B7FF sbrs r27,7
		6445	6686 382e 00C0 rjmp .L549
		6446	6687 3830 8150 subi r24,lo8(-(255))
		6447	6688 3832 9F4F sbci r25,hi8(-(255))
		6448	6689 3834 AF4F sbci r26,hlo8(-(255))
		6449	6690 3836 BF4F sbci r27,hhi8(-(255))
		6450	6691 .L549:
		6451	6692 3838 892F mov r24,r25
		6452	6693 383a 9A2F mov r25,r26
		6453	6694 383c AB2F mov r26,r27
		6454	6695 383e BB27 clr r27
		6455	6696 3840 A7FD sbrc r26,7
		6456	6697 3842 BA95 dec r27
		6457	6698 3844 8093 0000 sts MittelIntegralNick2,r24
		6458	6699 3848 9093 0000 sts (MittelIntegralNick2)+1,r25
		6459	6700 384c A093 0000 sts (MittelIntegralNick2)+2,r26
		6460	6701 3850 B093 0000 sts (MittelIntegralNick2)+3,r27
		6461	6702 3854 8091 0000 lds r24,MittelIntegralRoll2
		6462	6703 3858 9091 0000 lds r25,(MittelIntegralRoll2)+1
		6463	6704 385c A091 0000 lds r26,(MittelIntegralRoll2)+2
		6464	6705 3860 B091 0000 lds r27,(MittelIntegralRoll2)+3
		6465	6706 3864 B7FF sbrs r27,7
		6466	6707 3866 00C0 rjmp .L550
		6467	6708 3868 8150 subi r24,lo8(-(255))
		6468	6709 386a 9F4F sbci r25,hi8(-(255))
		6469	6710 386c AF4F sbci r26,hlo8(-(255))
		6470	6711 386e BF4F sbci r27,hhi8(-(255))
		6471	6712 .L550:
		6472	6713 3870 892F mov r24,r25
		6473	6714 3872 9A2F mov r25,r26
		6474	6715 3874 AB2F mov r26,r27
		6475	6716 3876 BB27 clr r27
		6476	6717 3878 A7FD sbrc r26,7
		6477	6718 387a BA95 dec r27
		6478	6719 387c 8093 0000 sts MittelIntegralRoll2,r24
		6479	6720 3880 9093 0000 sts (MittelIntegralRoll2)+1,r25
		6480	6721 3884 A093 0000 sts (MittelIntegralRoll2)+2,r26
		6481	6722 3888 B093 0000 sts (MittelIntegralRoll2)+3,r27
		6482	6723 388c 8091 0000 lds r24,IntegralNick
		6483	6724 3890 9091 0000 lds r25,(IntegralNick)+1
		6484	6725 3894 A091 0000 lds r26,(IntegralNick)+2
		6485	6726 3898 B091 0000 lds r27,(IntegralNick)+3
		6486	6727 389c 2F81 ldd r18,Y+7
		6487	6728 389e 3885 ldd r19,Y+8
		6488	6729 38a0 4985 ldd r20,Y+9
		6489	6730 38a2 5A85 ldd r21,Y+10
		6490	6731 38a4 281B sub r18,r24
		6491	6732 38a6 390B sbc r19,r25
		6492	6733 38a8 4A0B sbc r20,r26
		6493	6734 38aa 5B0B sbc r21,r27
		6494	6735 38ac 2093 0000 sts tmp_long.1,r18
		6495	6736 38b0 3093 0000 sts (tmp_long.1)+1,r19
		6496	6737 38b4 4093 0000 sts (tmp_long.1)+2,r20
		6497	6738 38b8 5093 0000 sts (tmp_long.1)+3,r21
		6498	6739 38bc 8091 0000 lds r24,IntegralRoll
		6499	6740 38c0 9091 0000 lds r25,(IntegralRoll)+1
		6500	6741 38c4 A091 0000 lds r26,(IntegralRoll)+2
		6501	6742 38c8 B091 0000 lds r27,(IntegralRoll)+3
		6502	6743 38cc EB84 ldd r14,Y+11
		6503	6744 38ce FC84 ldd r15,Y+12
		6504	6745 38d0 0D85 ldd r16,Y+13
		6505	6746 38d2 1E85 ldd r17,Y+14
		6506	6747 38d4 E81A sub r14,r24
		6507	6748 38d6 F90A sbc r15,r25
		6508	6749 38d8 0A0B sbc r16,r26
		6509	6750 38da 1B0B sbc r17,r27
		6510	6751 38dc E092 0000 sts tmp_long2.2,r14
		6511	6752 38e0 F092 0000 sts (tmp_long2.2)+1,r15
		6512	6753 38e4 0093 0000 sts (tmp_long2.2)+2,r16
		6513	6754 38e8 1093 0000 sts (tmp_long2.2)+3,r17
		6514	6755 38ec 2093 0000 sts IntegralFehlerNick.3,r18
		6515	6756 38f0 3093 0000 sts (IntegralFehlerNick.3)+1,r19
		6516	6757 38f4 4093 0000 sts (IntegralFehlerNick.3)+2,r20
		6517	6758 38f8 5093 0000 sts (IntegralFehlerNick.3)+3,r21
		6518	6759 38fc E092 0000 sts IntegralFehlerRoll.4,r14
		6519	6760 3900 F092 0000 sts (IntegralFehlerRoll.4)+1,r15
		6520	6761 3904 0093 0000 sts (IntegralFehlerRoll.4)+2,r16
		6521	6762 3908 1093 0000 sts (IntegralFehlerRoll.4)+3,r17
		6522	6763 390c 8091 0000 lds r24,Mess_IntegralNick2
		6523	6764 3910 9091 0000 lds r25,(Mess_IntegralNick2)+1
		6524	6765 3914 A091 0000 lds r26,(Mess_IntegralNick2)+2
		6525	6766 3918 B091 0000 lds r27,(Mess_IntegralNick2)+3
		6526	6767 391c 821B sub r24,r18
		6527	6768 391e 930B sbc r25,r19
		6528	6769 3920 A40B sbc r26,r20
		6529	6770 3922 B50B sbc r27,r21
		6530	6771 3924 8093 0000 sts Mess_IntegralNick2,r24
		6531	6772 3928 9093 0000 sts (Mess_IntegralNick2)+1,r25
		6532	6773 392c A093 0000 sts (Mess_IntegralNick2)+2,r26
		6533	6774 3930 B093 0000 sts (Mess_IntegralNick2)+3,r27
		6534	6775 3934 8091 0000 lds r24,Mess_IntegralRoll2
		6535	6776 3938 9091 0000 lds r25,(Mess_IntegralRoll2)+1
		6536	6777 393c A091 0000 lds r26,(Mess_IntegralRoll2)+2
		6537	6778 3940 B091 0000 lds r27,(Mess_IntegralRoll2)+3
		6538	6779 3944 8E19 sub r24,r14
		6539	6780 3946 9F09 sbc r25,r15
		6540	6781 3948 A00B sbc r26,r16
		6541	6782 394a B10B sbc r27,r17
		6542	6783 394c 8093 0000 sts Mess_IntegralRoll2,r24
		6543	6784 3950 9093 0000 sts (Mess_IntegralRoll2)+1,r25
		6544	6785 3954 A093 0000 sts (Mess_IntegralRoll2)+2,r26
		6545	6786 3958 B093 0000 sts (Mess_IntegralRoll2)+3,r27
		6546	6787 395c 8889 ldd r24,Y+16
		6547	6788 395e 8823 tst r24
		6548	6789 3960 01F0 breq .L551
		6549	6790 3962 2091 0000 lds r18,GierGyroFehler
		6550	6791 3966 3091 0000 lds r19,(GierGyroFehler)+1
		6551	6792 396a 2138 cpi r18,129
		6552	6793 396c 3105 cpc r19,__zero_reg__
		6553	6794 396e 04F0 brlt .L552
		6554	6795 3970 8091 0000 lds r24,AdNeutralGier
		6555	6796 3974 9091 0000 lds r25,(AdNeutralGier)+1
		6556	6797 3978 0196 adiw r24,1
		6557	6798 397a 9093 0000 sts (AdNeutralGier)+1,r25
		6558	6799 397e 8093 0000 sts AdNeutralGier,r24
		6559	6800 .L552:
		6560	6801 3982 2058 subi r18,lo8(-128)
		6561	6802 3984 3F4F sbci r19,hi8(-128)
		6562	6803 3986 04F4 brge .L551
		6563	6804 3988 8091 0000 lds r24,AdNeutralGier
		6564	6805 398c 9091 0000 lds r25,(AdNeutralGier)+1
		6565	6806 3990 0197 sbiw r24,1
		6566	6807 3992 9093 0000 sts (AdNeutralGier)+1,r25
		6567	6808 3996 8093 0000 sts AdNeutralGier,r24
		6568	6809 .L551:
		6569	6810 399a 1092 0000 sts (GierGyroFehler)+1,__zero_reg__
		6570	6811 399e 1092 0000 sts GierGyroFehler,__zero_reg__
		6571	6812 39a2 81E0 ldi r24,lo8(1)
		6572	6813 39a4 90E0 ldi r25,hi8(1)
		6573	6814 39a6 9093 0000 sts (cnt.14)+1,r25
		6574	6815 39aa 8093 0000 sts cnt.14,r24
		6575	6816 39ae E090 0000 lds r14,IntegralFehlerNick.3
		6576	6817 39b2 F090 0000 lds r15,(IntegralFehlerNick.3)+1
		6577	6818 39b6 0091 0000 lds r16,(IntegralFehlerNick.3)+2
		6578	6819 39ba 1091 0000 lds r17,(IntegralFehlerNick.3)+3
		6579	6820 39be D801 movw r26,r16
		6580	6821 39c0 C701 movw r24,r14
		6581	6822 39c2 17FF sbrs r17,7
		6582	6823 39c4 00C0 rjmp .L555
		6583	6824 39c6 8827 clr r24
		6584	6825 39c8 9927 clr r25
		6585	6826 39ca DC01 movw r26,r24
		6586	6827 39cc 8E19 sub r24,r14
		6587	6828 39ce 9F09 sbc r25,r15
		6588	6829 39d0 A00B sbc r26,r16
		6589	6830 39d2 B10B sbc r27,r17
		6590	6831 .L555:
		6591	6832 39d4 8150 subi r24,lo8(513)
		6592	6833 39d6 9240 sbci r25,hi8(513)
		6593	6834 39d8 A040 sbci r26,hlo8(513)
		6594	6835 39da B040 sbci r27,hhi8(513)
		6595	6836 39dc 04F0 brlt .L554
		6596	6837 39de 84E0 ldi r24,lo8(4)
		6597	6838 39e0 90E0 ldi r25,hi8(4)
		6598	6839 39e2 9093 0000 sts (cnt.14)+1,r25
		6599	6840 39e6 8093 0000 sts cnt.14,r24
		6600	6841 .L554:
		6601	6842 39ea 8091 0000 lds r24,MittelIntegralNick_Alt.19
		6602	6843 39ee 9091 0000 lds r25,(MittelIntegralNick_Alt.19)+1
		6603	6844 39f2 A091 0000 lds r26,(MittelIntegralNick_Alt.19)+2
		6604	6845 39f6 B091 0000 lds r27,(MittelIntegralNick_Alt.19)+3
		6605	6846 39fa 2091 0000 lds r18,MittelIntegralNick
		6606	6847 39fe 3091 0000 lds r19,(MittelIntegralNick)+1
		6607	6848 3a02 4091 0000 lds r20,(MittelIntegralNick)+2
		6608	6849 3a06 5091 0000 lds r21,(MittelIntegralNick)+3
		6609	6850 3a0a 821B sub r24,r18
		6610	6851 3a0c 930B sbc r25,r19
		6611	6852 3a0e A40B sbc r26,r20
		6612	6853 3a10 B50B sbc r27,r21
		6613	6854 3a12 815E subi r24,lo8(-(19999))
		6614	6855 3a14 914B sbci r25,hi8(-(19999))
		6615	6856 3a16 AF4F sbci r26,hlo8(-(19999))
		6616	6857 3a18 BF4F sbci r27,hhi8(-(19999))
		6617	6858 3a1a 8F53 subi r24,lo8(39999)
		6618	6859 3a1c 9C49 sbci r25,hi8(39999)
		6619	6860 3a1e A040 sbci r26,hlo8(39999)
		6620	6861 3a20 B040 sbci r27,hhi8(39999)
		6621	6862 3a22 00F0 brlo .L557
		6622	6863 3a24 8091 0000 lds r24,FromNaviCtrl_Value+1
		6623	6864 3a28 8931 cpi r24,lo8(25)
		6624	6865 3a2a 04F4 brge .+2
		6625	6866 3a2c 00C0 rjmp .L556
		6626	6867 .L557:
		6627	6868 3a2e 21E0 ldi r18,lo8(4097)
		6628	6869 3a30 E216 cp r14,r18
		6629	6870 3a32 20E1 ldi r18,hi8(4097)
		6630	6871 3a34 F206 cpc r15,r18
		6631	6872 3a36 20E0 ldi r18,hlo8(4097)
		6632	6873 3a38 0207 cpc r16,r18
		6633	6874 3a3a 20E0 ldi r18,hhi8(4097)
		6634	6875 3a3c 1207 cpc r17,r18
		6635	6876 3a3e 04F4 brge .+2
		6636	6877 3a40 00C0 rjmp .L558
		6637	6878 3a42 8091 0000 lds r24,last_n_p.15
		6638	6879 3a46 8823 tst r24
		6639	6880 3a48 01F4 brne .+2
		6640	6881 3a4a 00C0 rjmp .L559
		6641	6882 3a4c D801 movw r26,r16
		6642	6883 3a4e C701 movw r24,r14
		6643	6884 3a50 17FF sbrs r17,7
		6644	6885 3a52 00C0 rjmp .L560
		6645	6886 3a54 8827 clr r24
		6646	6887 3a56 9927 clr r25
		6647	6888 3a58 DC01 movw r26,r24
		6648	6889 3a5a 8E19 sub r24,r14
		6649	6890 3a5c 9F09 sbc r25,r15
		6650	6891 3a5e A00B sbc r26,r16
		6651	6892 3a60 B10B sbc r27,r17
		6652	6893 .L560:
		6653	6894 3a62 9C01 movw r18,r24
		6654	6895 3a64 AD01 movw r20,r26
		6655	6896 3a66 B7FF sbrs r27,7
		6656	6897 3a68 00C0 rjmp .L561
		6657	6898 3a6a 2150 subi r18,lo8(-(511))
		6658	6899 3a6c 3E4F sbci r19,hi8(-(511))
		6659	6900 3a6e 4F4F sbci r20,hlo8(-(511))
		6660	6901 3a70 5F4F sbci r21,hhi8(-(511))
		6661	6902 .L561:
		6662	6903 3a72 F9E0 ldi r31,9
		6663	6904 3a74 5595 1: asr r21
		6664	6905 3a76 4795 ror r20
		6665	6906 3a78 3795 ror r19
		6666	6907 3a7a 2795 ror r18
		6667	6908 3a7c FA95 dec r31
		6668	6909 3a7e 01F4 brne 1b
		6669	6910 3a80 8091 0000 lds r24,cnt.14
		6670	6911 3a84 9091 0000 lds r25,(cnt.14)+1
		6671	6912 3a88 820F add r24,r18
		6672	6913 3a8a 931F adc r25,r19
		6673	6914 3a8c 9093 0000 sts (cnt.14)+1,r25
		6674	6915 3a90 8093 0000 sts cnt.14,r24
		6675	6916 3a94 D801 movw r26,r16
		6676	6917 3a96 C701 movw r24,r14
		6677	6918 3a98 17FF sbrs r17,7
		6678	6919 3a9a 00C0 rjmp .L562
		6679	6920 3a9c 0796 adiw r24,7
		6680	6921 3a9e A11D adc r26,__zero_reg__
		6681	6922 3aa0 B11D adc r27,__zero_reg__
		6682	6923 .L562:
		6683	6924 3aa2 E3E0 ldi r30,3
		6684	6925 3aa4 B595 1: asr r27
		6685	6926 3aa6 A795 ror r26
		6686	6927 3aa8 9795 ror r25
		6687	6928 3aaa 8795 ror r24
		6688	6929 3aac EA95 dec r30
		6689	6930 3aae 01F4 brne 1b
		6690	6931 3ab0 8093 0000 sts ausgleichNick.10,r24
		6691	6932 3ab4 9093 0000 sts (ausgleichNick.10)+1,r25
		6692	6933 3ab8 A093 0000 sts (ausgleichNick.10)+2,r26
		6693	6934 3abc B093 0000 sts (ausgleichNick.10)+3,r27
		6694	6935 3ac0 8958 subi r24,lo8(5001)
		6695	6936 3ac2 9341 sbci r25,hi8(5001)
		6696	6937 3ac4 A040 sbci r26,hlo8(5001)
		6697	6938 3ac6 B040 sbci r27,hhi8(5001)
		6698	6939 3ac8 04F0 brlt .L563
		6699	6940 3aca 88E8 ldi r24,lo8(5000)
		6700	6941 3acc 93E1 ldi r25,hi8(5000)
		6701	6942 3ace A0E0 ldi r26,hlo8(5000)
		6702	6943 3ad0 B0E0 ldi r27,hhi8(5000)
		6703	6944 3ad2 8093 0000 sts ausgleichNick.10,r24
		6704	6945 3ad6 9093 0000 sts (ausgleichNick.10)+1,r25
		6705	6946 3ada A093 0000 sts (ausgleichNick.10)+2,r26
		6706	6947 3ade B093 0000 sts (ausgleichNick.10)+3,r27
		6707	6948 .L563:
		6708	6949 3ae2 2091 0000 lds r18,ausgleichNick.10
		6709	6950 3ae6 3091 0000 lds r19,(ausgleichNick.10)+1
		6710	6951 3aea 4091 0000 lds r20,(ausgleichNick.10)+2
		6711	6952 3aee 5091 0000 lds r21,(ausgleichNick.10)+3
		6712	6953 3af2 57FF sbrs r21,7
		6713	6954 3af4 00C0 rjmp .L564
		6714	6955 3af6 2150 subi r18,lo8(-(255))
		6715	6956 3af8 3F4F sbci r19,hi8(-(255))
		6716	6957 3afa 4F4F sbci r20,hlo8(-(255))
		6717	6958 3afc 5F4F sbci r21,hhi8(-(255))
		6718	6959 .L564:
		6719	6960 3afe 232F mov r18,r19
		6720	6961 3b00 342F mov r19,r20
		6721	6962 3b02 452F mov r20,r21
		6722	6963 3b04 5527 clr r21
		6723	6964 3b06 47FD sbrc r20,7
		6724	6965 3b08 5A95 dec r21
		6725	6966 3b0a 8091 0000 lds r24,LageKorrekturNick
		6726	6967 3b0e 9091 0000 lds r25,(LageKorrekturNick)+1
		6727	6968 3b12 820F add r24,r18
		6728	6969 3b14 931F adc r25,r19
		6729	6970 3b16 9093 0000 sts (LageKorrekturNick)+1,r25
		6730	6971 3b1a 8093 0000 sts LageKorrekturNick,r24
		6731	6972 3b1e 00C0 rjmp .L566
		6732	6973 .L559:
		6733	6974 3b20 81E0 ldi r24,lo8(1)
		6734	6975 3b22 8093 0000 sts last_n_p.15,r24
		6735	6976 3b26 00C0 rjmp .L566
		6736	6977 .L558:
		6737	6978 3b28 1092 0000 sts last_n_p.15,__zero_reg__
		6738	6979 .L566:
		6739	6980 3b2c 40E0 ldi r20,lo8(-4096)
		6740	6981 3b2e E416 cp r14,r20
		6741	6982 3b30 40EF ldi r20,hi8(-4096)
		6742	6983 3b32 F406 cpc r15,r20
		6743	6984 3b34 4FEF ldi r20,hlo8(-4096)
		6744	6985 3b36 0407 cpc r16,r20
		6745	6986 3b38 4FEF ldi r20,hhi8(-4096)
		6746	6987 3b3a 1407 cpc r17,r20
		6747	6988 3b3c 04F0 brlt .+2
		6748	6989 3b3e 00C0 rjmp .L567
		6749	6990 3b40 8091 0000 lds r24,last_n_n.16
		6750	6991 3b44 8823 tst r24
		6751	6992 3b46 01F4 brne .+2
		6752	6993 3b48 00C0 rjmp .L568
		6753	6994 3b4a D801 movw r26,r16
		6754	6995 3b4c C701 movw r24,r14
		6755	6996 3b4e 17FF sbrs r17,7
		6756	6997 3b50 00C0 rjmp .L569
		6757	6998 3b52 8827 clr r24
		6758	6999 3b54 9927 clr r25
		6759	7000 3b56 DC01 movw r26,r24
		6760	7001 3b58 8E19 sub r24,r14
		6761	7002 3b5a 9F09 sbc r25,r15
		6762	7003 3b5c A00B sbc r26,r16
		6763	7004 3b5e B10B sbc r27,r17
		6764	7005 .L569:
		6765	7006 3b60 9C01 movw r18,r24
		6766	7007 3b62 AD01 movw r20,r26
		6767	7008 3b64 B7FF sbrs r27,7
		6768	7009 3b66 00C0 rjmp .L570
		6769	7010 3b68 2150 subi r18,lo8(-(511))
		6770	7011 3b6a 3E4F sbci r19,hi8(-(511))
		6771	7012 3b6c 4F4F sbci r20,hlo8(-(511))
		6772	7013 3b6e 5F4F sbci r21,hhi8(-(511))
		6773	7014 .L570:
		6774	7015 3b70 69E0 ldi r22,9
		6775	7016 3b72 5595 1: asr r21
		6776	7017 3b74 4795 ror r20
		6777	7018 3b76 3795 ror r19
		6778	7019 3b78 2795 ror r18
		6779	7020 3b7a 6A95 dec r22
		6780	7021 3b7c 01F4 brne 1b
		6781	7022 3b7e 8091 0000 lds r24,cnt.14
		6782	7023 3b82 9091 0000 lds r25,(cnt.14)+1
		6783	7024 3b86 820F add r24,r18
		6784	7025 3b88 931F adc r25,r19
		6785	7026 3b8a 9093 0000 sts (cnt.14)+1,r25
		6786	7027 3b8e 8093 0000 sts cnt.14,r24
		6787	7028 3b92 D801 movw r26,r16
		6788	7029 3b94 C701 movw r24,r14
		6789	7030 3b96 17FF sbrs r17,7
		6790	7031 3b98 00C0 rjmp .L571
		6791	7032 3b9a 0796 adiw r24,7
		6792	7033 3b9c A11D adc r26,__zero_reg__
		6793	7034 3b9e B11D adc r27,__zero_reg__
		6794	7035 .L571:
		6795	7036 3ba0 23E0 ldi r18,3
		6796	7037 3ba2 B595 1: asr r27
		6797	7038 3ba4 A795 ror r26
		6798	7039 3ba6 9795 ror r25
		6799	7040 3ba8 8795 ror r24
		6800	7041 3baa 2A95 dec r18
		6801	7042 3bac 01F4 brne 1b
		6802	7043 3bae 8093 0000 sts ausgleichNick.10,r24
		6803	7044 3bb2 9093 0000 sts (ausgleichNick.10)+1,r25
		6804	7045 3bb6 A093 0000 sts (ausgleichNick.10)+2,r26
		6805	7046 3bba B093 0000 sts (ausgleichNick.10)+3,r27
		6806	7047 3bbe 8857 subi r24,lo8(-5000)
		6807	7048 3bc0 9C4E sbci r25,hi8(-5000)
		6808	7049 3bc2 AF4F sbci r26,hlo8(-5000)
		6809	7050 3bc4 BF4F sbci r27,hhi8(-5000)
		6810	7051 3bc6 04F4 brge .L572
		6811	7052 3bc8 88E7 ldi r24,lo8(-5000)
		6812	7053 3bca 9CEE ldi r25,hi8(-5000)
		6813	7054 3bcc AFEF ldi r26,hlo8(-5000)
		6814	7055 3bce BFEF ldi r27,hhi8(-5000)
		6815	7056 3bd0 8093 0000 sts ausgleichNick.10,r24
		6816	7057 3bd4 9093 0000 sts (ausgleichNick.10)+1,r25
		6817	7058 3bd8 A093 0000 sts (ausgleichNick.10)+2,r26
		6818	7059 3bdc B093 0000 sts (ausgleichNick.10)+3,r27
		6819	7060 .L572:
		6820	7061 3be0 2091 0000 lds r18,ausgleichNick.10
		6821	7062 3be4 3091 0000 lds r19,(ausgleichNick.10)+1
		6822	7063 3be8 4091 0000 lds r20,(ausgleichNick.10)+2
		6823	7064 3bec 5091 0000 lds r21,(ausgleichNick.10)+3
		6824	7065 3bf0 57FF sbrs r21,7
		6825	7066 3bf2 00C0 rjmp .L573
		6826	7067 3bf4 2150 subi r18,lo8(-(255))
		6827	7068 3bf6 3F4F sbci r19,hi8(-(255))
		6828	7069 3bf8 4F4F sbci r20,hlo8(-(255))
		6829	7070 3bfa 5F4F sbci r21,hhi8(-(255))
		6830	7071 .L573:
		6831	7072 3bfc 232F mov r18,r19
		6832	7073 3bfe 342F mov r19,r20
		6833	7074 3c00 452F mov r20,r21
		6834	7075 3c02 5527 clr r21
		6835	7076 3c04 47FD sbrc r20,7
		6836	7077 3c06 5A95 dec r21
		6837	7078 3c08 8091 0000 lds r24,LageKorrekturNick
		6838	7079 3c0c 9091 0000 lds r25,(LageKorrekturNick)+1
		6839	7080 3c10 820F add r24,r18
		6840	7081 3c12 931F adc r25,r19
		6841	7082 3c14 9093 0000 sts (LageKorrekturNick)+1,r25
		6842	7083 3c18 8093 0000 sts LageKorrekturNick,r24
		6843	7084 3c1c 00C0 rjmp .L576
		6844	7085 .L568:
		6845	7086 3c1e 81E0 ldi r24,lo8(1)
		6846	7087 3c20 8093 0000 sts last_n_n.16,r24
		6847	7088 3c24 00C0 rjmp .L576
		6848	7089 .L567:
		6849	7090 3c26 1092 0000 sts last_n_n.16,__zero_reg__
		6850	7091 3c2a 00C0 rjmp .L576
		6851	7092 .L556:
		6852	7093 3c2c 1092 0000 sts (cnt.14)+1,__zero_reg__
		6853	7094 3c30 1092 0000 sts cnt.14,__zero_reg__
		6854	7095 3c34 84E6 ldi r24,lo8(100)
		6855	7096 3c36 90E0 ldi r25,hi8(100)
		6856	7097 3c38 9093 0000 sts (KompassSignalSchlecht)+1,r25
		6857	7098 3c3c 8093 0000 sts KompassSignalSchlecht,r24
		6858	7099 .L576:
		6859	7100 3c40 6889 ldd r22,Y+16
		6860	7101 3c42 262F mov r18,r22
		6861	7102 3c44 3327 clr r19
		6862	7103 3c46 8091 0000 lds r24,cnt.14
		6863	7104 3c4a 9091 0000 lds r25,(cnt.14)+1
		6864	7105 3c4e 2817 cp r18,r24
		6865	7106 3c50 3907 cpc r19,r25
		6866	7107 3c52 04F4 brge .L577
		6867	7108 3c54 3093 0000 sts (cnt.14)+1,r19
		6868	7109 3c58 2093 0000 sts cnt.14,r18
		6869	7110 .L577:
		6870	7111 3c5c 1091 0000 lds r17,FromNaviCtrl_Value+1
		6871	7112 3c60 1123 tst r17
		6872	7113 3c62 01F0 breq .L578
		6873	7114 3c64 212F mov r18,r17
		6874	7115 3c66 3327 clr r19
		6875	7116 3c68 27FD sbrc r18,7
		6876	7117 3c6a 3095 com r19
		6877	7118 3c6c 8091 0000 lds r24,cnt.14
		6878	7119 3c70 9091 0000 lds r25,(cnt.14)+1
		6879	7120 3c74 2817 cp r18,r24
		6880	7121 3c76 3907 cpc r19,r25
		6881	7122 3c78 04F4 brge .L578
		6882	7123 3c7a 3093 0000 sts (cnt.14)+1,r19
		6883	7124 3c7e 2093 0000 sts cnt.14,r18
		6884	7125 .L578:
		6885	7126 3c82 4091 0000 lds r20,IntegralFehlerNick.3
		6886	7127 3c86 5091 0000 lds r21,(IntegralFehlerNick.3)+1
		6887	7128 3c8a 6091 0000 lds r22,(IntegralFehlerNick.3)+2
		6888	7129 3c8e 7091 0000 lds r23,(IntegralFehlerNick.3)+3
		6889	7130 3c92 4138 cpi r20,lo8(129)
		6890	7131 3c94 5105 cpc r21,__zero_reg__
		6891	7132 3c96 6105 cpc r22,__zero_reg__
		6892	7133 3c98 7105 cpc r23,__zero_reg__
		6893	7134 3c9a 04F0 brlt .L580
		6894	7135 3c9c 8091 0000 lds r24,AdNeutralNick
		6895	7136 3ca0 9091 0000 lds r25,(AdNeutralNick)+1
		6896	7137 3ca4 2091 0000 lds r18,cnt.14
		6897	7138 3ca8 3091 0000 lds r19,(cnt.14)+1
		6898	7139 3cac 820F add r24,r18
		6899	7140 3cae 931F adc r25,r19
		6900	7141 3cb0 9093 0000 sts (AdNeutralNick)+1,r25
		6901	7142 3cb4 8093 0000 sts AdNeutralNick,r24
		6902	7143 .L580:
		6903	7144 3cb8 4058 subi r20,lo8(-128)
		6904	7145 3cba 5F4F sbci r21,hi8(-128)
		6905	7146 3cbc 6F4F sbci r22,hlo8(-128)
		6906	7147 3cbe 7F4F sbci r23,hhi8(-128)
		6907	7148 3cc0 04F4 brge .L581
		6908	7149 3cc2 8091 0000 lds r24,AdNeutralNick
		6909	7150 3cc6 9091 0000 lds r25,(AdNeutralNick)+1
		6910	7151 3cca 2091 0000 lds r18,cnt.14
		6911	7152 3cce 3091 0000 lds r19,(cnt.14)+1
		6912	7153 3cd2 821B sub r24,r18
		6913	7154 3cd4 930B sbc r25,r19
		6914	7155 3cd6 9093 0000 sts (AdNeutralNick)+1,r25
		6915	7156 3cda 8093 0000 sts AdNeutralNick,r24
		6916	7157 .L581:
		6917	7158 3cde 81E0 ldi r24,lo8(1)
		6918	7159 3ce0 90E0 ldi r25,hi8(1)
		6919	7160 3ce2 9093 0000 sts (cnt.14)+1,r25
		6920	7161 3ce6 8093 0000 sts cnt.14,r24
		6921	7162 3cea C090 0000 lds r12,IntegralFehlerRoll.4
		6922	7163 3cee D090 0000 lds r13,(IntegralFehlerRoll.4)+1
		6923	7164 3cf2 E090 0000 lds r14,(IntegralFehlerRoll.4)+2
		6924	7165 3cf6 F090 0000 lds r15,(IntegralFehlerRoll.4)+3
		6925	7166 3cfa D701 movw r26,r14
		6926	7167 3cfc C601 movw r24,r12
		6927	7168 3cfe F7FE sbrs r15,7
		6928	7169 3d00 00C0 rjmp .L583
		6929	7170 3d02 8827 clr r24
		6930	7171 3d04 9927 clr r25
		6931	7172 3d06 DC01 movw r26,r24
		6932	7173 3d08 8C19 sub r24,r12
		6933	7174 3d0a 9D09 sbc r25,r13
		6934	7175 3d0c AE09 sbc r26,r14
		6935	7176 3d0e BF09 sbc r27,r15
		6936	7177 .L583:
		6937	7178 3d10 8150 subi r24,lo8(513)
		6938	7179 3d12 9240 sbci r25,hi8(513)
		6939	7180 3d14 A040 sbci r26,hlo8(513)
		6940	7181 3d16 B040 sbci r27,hhi8(513)
		6941	7182 3d18 04F0 brlt .L582
		6942	7183 3d1a 84E0 ldi r24,lo8(4)
		6943	7184 3d1c 90E0 ldi r25,hi8(4)
		6944	7185 3d1e 9093 0000 sts (cnt.14)+1,r25
		6945	7186 3d22 8093 0000 sts cnt.14,r24
		6946	7187 .L582:
		6947	7188 3d26 8091 0000 lds r24,MittelIntegralRoll_Alt.20
		6948	7189 3d2a 9091 0000 lds r25,(MittelIntegralRoll_Alt.20)+1
		6949	7190 3d2e A091 0000 lds r26,(MittelIntegralRoll_Alt.20)+2
		6950	7191 3d32 B091 0000 lds r27,(MittelIntegralRoll_Alt.20)+3
		6951	7192 3d36 2091 0000 lds r18,MittelIntegralRoll
		6952	7193 3d3a 3091 0000 lds r19,(MittelIntegralRoll)+1
		6953	7194 3d3e 4091 0000 lds r20,(MittelIntegralRoll)+2
		6954	7195 3d42 5091 0000 lds r21,(MittelIntegralRoll)+3
		6955	7196 3d46 821B sub r24,r18
		6956	7197 3d48 930B sbc r25,r19
		6957	7198 3d4a A40B sbc r26,r20
		6958	7199 3d4c B50B sbc r27,r21
		6959	7200 3d4e 815E subi r24,lo8(-(19999))
		6960	7201 3d50 914B sbci r25,hi8(-(19999))
		6961	7202 3d52 AF4F sbci r26,hlo8(-(19999))
		6962	7203 3d54 BF4F sbci r27,hhi8(-(19999))
		6963	7204 3d56 8F53 subi r24,lo8(39999)
		6964	7205 3d58 9C49 sbci r25,hi8(39999)
		6965	7206 3d5a A040 sbci r26,hlo8(39999)
		6966	7207 3d5c B040 sbci r27,hhi8(39999)
		6967	7208 3d5e 00F0 brlo .L585
		6968	7209 3d60 1931 cpi r17,lo8(25)
		6969	7210 3d62 04F4 brge .+2
		6970	7211 3d64 00C0 rjmp .L584
		6971	7212 .L585:
		6972	7213 3d66 01E0 ldi r16,lo8(4097)
		6973	7214 3d68 C016 cp r12,r16
		6974	7215 3d6a 00E1 ldi r16,hi8(4097)
		6975	7216 3d6c D006 cpc r13,r16
		6976	7217 3d6e 00E0 ldi r16,hlo8(4097)
		6977	7218 3d70 E006 cpc r14,r16
		6978	7219 3d72 00E0 ldi r16,hhi8(4097)
		6979	7220 3d74 F006 cpc r15,r16
		6980	7221 3d76 04F4 brge .+2
		6981	7222 3d78 00C0 rjmp .L586
		6982	7223 3d7a 8091 0000 lds r24,last_r_p.17
		6983	7224 3d7e 8823 tst r24
		6984	7225 3d80 01F4 brne .+2
		6985	7226 3d82 00C0 rjmp .L587
		6986	7227 3d84 D701 movw r26,r14
		6987	7228 3d86 C601 movw r24,r12
		6988	7229 3d88 F7FE sbrs r15,7
		6989	7230 3d8a 00C0 rjmp .L588
		6990	7231 3d8c 8827 clr r24
		6991	7232 3d8e 9927 clr r25
		6992	7233 3d90 DC01 movw r26,r24
		6993	7234 3d92 8C19 sub r24,r12
		6994	7235 3d94 9D09 sbc r25,r13
		6995	7236 3d96 AE09 sbc r26,r14
		6996	7237 3d98 BF09 sbc r27,r15
		6997	7238 .L588:
		6998	7239 3d9a 9C01 movw r18,r24
		6999	7240 3d9c AD01 movw r20,r26
		7000	7241 3d9e B7FF sbrs r27,7
		7001	7242 3da0 00C0 rjmp .L589
		7002	7243 3da2 2150 subi r18,lo8(-(511))
		7003	7244 3da4 3E4F sbci r19,hi8(-(511))
		7004	7245 3da6 4F4F sbci r20,hlo8(-(511))
		7005	7246 3da8 5F4F sbci r21,hhi8(-(511))
		7006	7247 .L589:
		7007	7248 3daa 09E0 ldi r16,9
		7008	7249 3dac 5595 1: asr r21
		7009	7250 3dae 4795 ror r20
		7010	7251 3db0 3795 ror r19
		7011	7252 3db2 2795 ror r18
		7012	7253 3db4 0A95 dec r16
		7013	7254 3db6 01F4 brne 1b
		7014	7255 3db8 8091 0000 lds r24,cnt.14
		7015	7256 3dbc 9091 0000 lds r25,(cnt.14)+1
		7016	7257 3dc0 820F add r24,r18
		7017	7258 3dc2 931F adc r25,r19
		7018	7259 3dc4 9093 0000 sts (cnt.14)+1,r25
		7019	7260 3dc8 8093 0000 sts cnt.14,r24
		7020	7261 3dcc D701 movw r26,r14
		7021	7262 3dce C601 movw r24,r12
		7022	7263 3dd0 F7FE sbrs r15,7
		7023	7264 3dd2 00C0 rjmp .L590
		7024	7265 3dd4 0796 adiw r24,7
		7025	7266 3dd6 A11D adc r26,__zero_reg__
		7026	7267 3dd8 B11D adc r27,__zero_reg__
		7027	7268 .L590:
		7028	7269 3dda 13E0 ldi r17,3
		7029	7270 3ddc B595 1: asr r27
		7030	7271 3dde A795 ror r26
		7031	7272 3de0 9795 ror r25
		7032	7273 3de2 8795 ror r24
		7033	7274 3de4 1A95 dec r17
		7034	7275 3de6 01F4 brne 1b
		7035	7276 3de8 8093 0000 sts ausgleichRoll.11,r24
		7036	7277 3dec 9093 0000 sts (ausgleichRoll.11)+1,r25
		7037	7278 3df0 A093 0000 sts (ausgleichRoll.11)+2,r26
		7038	7279 3df4 B093 0000 sts (ausgleichRoll.11)+3,r27
		7039	7280 3df8 8958 subi r24,lo8(5001)
		7040	7281 3dfa 9341 sbci r25,hi8(5001)
		7041	7282 3dfc A040 sbci r26,hlo8(5001)
		7042	7283 3dfe B040 sbci r27,hhi8(5001)
		7043	7284 3e00 04F0 brlt .L591
		7044	7285 3e02 88E8 ldi r24,lo8(5000)
		7045	7286 3e04 93E1 ldi r25,hi8(5000)
		7046	7287 3e06 A0E0 ldi r26,hlo8(5000)
		7047	7288 3e08 B0E0 ldi r27,hhi8(5000)
		7048	7289 3e0a 8093 0000 sts ausgleichRoll.11,r24
		7049	7290 3e0e 9093 0000 sts (ausgleichRoll.11)+1,r25
		7050	7291 3e12 A093 0000 sts (ausgleichRoll.11)+2,r26
		7051	7292 3e16 B093 0000 sts (ausgleichRoll.11)+3,r27
		7052	7293 .L591:
		7053	7294 3e1a 2091 0000 lds r18,ausgleichRoll.11
		7054	7295 3e1e 3091 0000 lds r19,(ausgleichRoll.11)+1
		7055	7296 3e22 4091 0000 lds r20,(ausgleichRoll.11)+2
		7056	7297 3e26 5091 0000 lds r21,(ausgleichRoll.11)+3
		7057	7298 3e2a 57FF sbrs r21,7
		7058	7299 3e2c 00C0 rjmp .L592
		7059	7300 3e2e 2150 subi r18,lo8(-(255))
		7060	7301 3e30 3F4F sbci r19,hi8(-(255))
		7061	7302 3e32 4F4F sbci r20,hlo8(-(255))
		7062	7303 3e34 5F4F sbci r21,hhi8(-(255))
		7063	7304 .L592:
		7064	7305 3e36 232F mov r18,r19
		7065	7306 3e38 342F mov r19,r20
		7066	7307 3e3a 452F mov r20,r21
		7067	7308 3e3c 5527 clr r21
		7068	7309 3e3e 47FD sbrc r20,7
		7069	7310 3e40 5A95 dec r21
		7070	7311 3e42 8091 0000 lds r24,LageKorrekturRoll
		7071	7312 3e46 9091 0000 lds r25,(LageKorrekturRoll)+1
		7072	7313 3e4a 820F add r24,r18
		7073	7314 3e4c 931F adc r25,r19
		7074	7315 3e4e 9093 0000 sts (LageKorrekturRoll)+1,r25
		7075	7316 3e52 8093 0000 sts LageKorrekturRoll,r24
		7076	7317 3e56 00C0 rjmp .L594
		7077	7318 .L587:
		7078	7319 3e58 81E0 ldi r24,lo8(1)
		7079	7320 3e5a 8093 0000 sts last_r_p.17,r24
		7080	7321 3e5e 00C0 rjmp .L594
		7081	7322 .L586:
		7082	7323 3e60 1092 0000 sts last_r_p.17,__zero_reg__
		7083	7324 .L594:
		7084	7325 3e64 20E0 ldi r18,lo8(-4096)
		7085	7326 3e66 C216 cp r12,r18
		7086	7327 3e68 20EF ldi r18,hi8(-4096)
		7087	7328 3e6a D206 cpc r13,r18
		7088	7329 3e6c 2FEF ldi r18,hlo8(-4096)
		7089	7330 3e6e E206 cpc r14,r18
		7090	7331 3e70 2FEF ldi r18,hhi8(-4096)
		7091	7332 3e72 F206 cpc r15,r18
		7092	7333 3e74 04F0 brlt .+2
		7093	7334 3e76 00C0 rjmp .L595
		7094	7335 3e78 8091 0000 lds r24,last_r_n.18
		7095	7336 3e7c 8823 tst r24
		7096	7337 3e7e 01F4 brne .+2
		7097	7338 3e80 00C0 rjmp .L596
		7098	7339 3e82 D701 movw r26,r14
		7099	7340 3e84 C601 movw r24,r12
		7100	7341 3e86 F7FE sbrs r15,7
		7101	7342 3e88 00C0 rjmp .L597
		7102	7343 3e8a 8827 clr r24
		7103	7344 3e8c 9927 clr r25
		7104	7345 3e8e DC01 movw r26,r24
		7105	7346 3e90 8C19 sub r24,r12
		7106	7347 3e92 9D09 sbc r25,r13
		7107	7348 3e94 AE09 sbc r26,r14
		7108	7349 3e96 BF09 sbc r27,r15
		7109	7350 .L597:
		7110	7351 3e98 9C01 movw r18,r24
		7111	7352 3e9a AD01 movw r20,r26
		7112	7353 3e9c B7FF sbrs r27,7
		7113	7354 3e9e 00C0 rjmp .L598
		7114	7355 3ea0 2150 subi r18,lo8(-(511))
		7115	7356 3ea2 3E4F sbci r19,hi8(-(511))
		7116	7357 3ea4 4F4F sbci r20,hlo8(-(511))
		7117	7358 3ea6 5F4F sbci r21,hhi8(-(511))
		7118	7359 .L598:
		7119	7360 3ea8 E9E0 ldi r30,9
		7120	7361 3eaa 5595 1: asr r21
		7121	7362 3eac 4795 ror r20
		7122	7363 3eae 3795 ror r19
		7123	7364 3eb0 2795 ror r18
		7124	7365 3eb2 EA95 dec r30
		7125	7366 3eb4 01F4 brne 1b
		7126	7367 3eb6 8091 0000 lds r24,cnt.14
		7127	7368 3eba 9091 0000 lds r25,(cnt.14)+1
		7128	7369 3ebe 820F add r24,r18
		7129	7370 3ec0 931F adc r25,r19
		7130	7371 3ec2 9093 0000 sts (cnt.14)+1,r25
		7131	7372 3ec6 8093 0000 sts cnt.14,r24
		7132	7373 3eca D701 movw r26,r14
		7133	7374 3ecc C601 movw r24,r12
		7134	7375 3ece F7FE sbrs r15,7
		7135	7376 3ed0 00C0 rjmp .L599
		7136	7377 3ed2 0796 adiw r24,7
		7137	7378 3ed4 A11D adc r26,__zero_reg__
		7138	7379 3ed6 B11D adc r27,__zero_reg__
		7139	7380 .L599:
		7140	7381 3ed8 73E0 ldi r23,3
		7141	7382 3eda B595 1: asr r27
		7142	7383 3edc A795 ror r26
		7143	7384 3ede 9795 ror r25
		7144	7385 3ee0 8795 ror r24
		7145	7386 3ee2 7A95 dec r23
		7146	7387 3ee4 01F4 brne 1b
		7147	7388 3ee6 8093 0000 sts ausgleichRoll.11,r24
		7148	7389 3eea 9093 0000 sts (ausgleichRoll.11)+1,r25
		7149	7390 3eee A093 0000 sts (ausgleichRoll.11)+2,r26
		7150	7391 3ef2 B093 0000 sts (ausgleichRoll.11)+3,r27
		7151	7392 3ef6 8857 subi r24,lo8(-5000)
		7152	7393 3ef8 9C4E sbci r25,hi8(-5000)
		7153	7394 3efa AF4F sbci r26,hlo8(-5000)
		7154	7395 3efc BF4F sbci r27,hhi8(-5000)
		7155	7396 3efe 04F4 brge .L600
		7156	7397 3f00 88E7 ldi r24,lo8(-5000)
		7157	7398 3f02 9CEE ldi r25,hi8(-5000)
		7158	7399 3f04 AFEF ldi r26,hlo8(-5000)
		7159	7400 3f06 BFEF ldi r27,hhi8(-5000)
		7160	7401 3f08 8093 0000 sts ausgleichRoll.11,r24
		7161	7402 3f0c 9093 0000 sts (ausgleichRoll.11)+1,r25
		7162	7403 3f10 A093 0000 sts (ausgleichRoll.11)+2,r26
		7163	7404 3f14 B093 0000 sts (ausgleichRoll.11)+3,r27
		7164	7405 .L600:
		7165	7406 3f18 2091 0000 lds r18,ausgleichRoll.11
		7166	7407 3f1c 3091 0000 lds r19,(ausgleichRoll.11)+1
		7167	7408 3f20 4091 0000 lds r20,(ausgleichRoll.11)+2
		7168	7409 3f24 5091 0000 lds r21,(ausgleichRoll.11)+3
		7169	7410 3f28 57FF sbrs r21,7
		7170	7411 3f2a 00C0 rjmp .L601
		7171	7412 3f2c 2150 subi r18,lo8(-(255))
		7172	7413 3f2e 3F4F sbci r19,hi8(-(255))
		7173	7414 3f30 4F4F sbci r20,hlo8(-(255))
		7174	7415 3f32 5F4F sbci r21,hhi8(-(255))
		7175	7416 .L601:
		7176	7417 3f34 232F mov r18,r19
		7177	7418 3f36 342F mov r19,r20
		7178	7419 3f38 452F mov r20,r21
		7179	7420 3f3a 5527 clr r21
		7180	7421 3f3c 47FD sbrc r20,7
		7181	7422 3f3e 5A95 dec r21
		7182	7423 3f40 8091 0000 lds r24,LageKorrekturRoll
		7183	7424 3f44 9091 0000 lds r25,(LageKorrekturRoll)+1
		7184	7425 3f48 820F add r24,r18
		7185	7426 3f4a 931F adc r25,r19
		7186	7427 3f4c 9093 0000 sts (LageKorrekturRoll)+1,r25
		7187	7428 3f50 8093 0000 sts LageKorrekturRoll,r24
		7188	7429 3f54 00C0 rjmp .L604
		7189	7430 .L596:
		7190	7431 3f56 81E0 ldi r24,lo8(1)
		7191	7432 3f58 8093 0000 sts last_r_n.18,r24
		7192	7433 3f5c 00C0 rjmp .L604
		7193	7434 .L595:
		7194	7435 3f5e 1092 0000 sts last_r_n.18,__zero_reg__
		7195	7436 3f62 00C0 rjmp .L604
		7196	7437 .L584:
		7197	7438 3f64 1092 0000 sts (cnt.14)+1,__zero_reg__
		7198	7439 3f68 1092 0000 sts cnt.14,__zero_reg__
		7199	7440 3f6c 84E6 ldi r24,lo8(100)
		7200	7441 3f6e 90E0 ldi r25,hi8(100)
		7201	7442 3f70 9093 0000 sts (KompassSignalSchlecht)+1,r25
		7202	7443 3f74 8093 0000 sts KompassSignalSchlecht,r24
		7203	7444 .L604:
		7204	7445 3f78 4889 ldd r20,Y+16
		7205	7446 3f7a 242F mov r18,r20
		7206	7447 3f7c 3327 clr r19
		7207	7448 3f7e 8091 0000 lds r24,cnt.14
		7208	7449 3f82 9091 0000 lds r25,(cnt.14)+1
		7209	7450 3f86 2817 cp r18,r24
		7210	7451 3f88 3907 cpc r19,r25
		7211	7452 3f8a 04F4 brge .L605
		7212	7453 3f8c 3093 0000 sts (cnt.14)+1,r19
		7213	7454 3f90 2093 0000 sts cnt.14,r18
		7214	7455 .L605:
		7215	7456 3f94 8091 0000 lds r24,FromNaviCtrl_Value+1
		7216	7457 3f98 8823 tst r24
		7217	7458 3f9a 01F0 breq .L606
		7218	7459 3f9c 282F mov r18,r24
		7219	7460 3f9e 3327 clr r19
		7220	7461 3fa0 27FD sbrc r18,7
		7221	7462 3fa2 3095 com r19
		7222	7463 3fa4 8091 0000 lds r24,cnt.14
		7223	7464 3fa8 9091 0000 lds r25,(cnt.14)+1
		7224	7465 3fac 2817 cp r18,r24
		7225	7466 3fae 3907 cpc r19,r25
		7226	7467 3fb0 04F4 brge .L606
		7227	7468 3fb2 3093 0000 sts (cnt.14)+1,r19
		7228	7469 3fb6 2093 0000 sts cnt.14,r18
		7229	7470 .L606:
		7230	7471 3fba 4091 0000 lds r20,IntegralFehlerRoll.4
		7231	7472 3fbe 5091 0000 lds r21,(IntegralFehlerRoll.4)+1
		7232	7473 3fc2 6091 0000 lds r22,(IntegralFehlerRoll.4)+2
		7233	7474 3fc6 7091 0000 lds r23,(IntegralFehlerRoll.4)+3
		7234	7475 3fca 4138 cpi r20,lo8(129)
		7235	7476 3fcc 5105 cpc r21,__zero_reg__
		7236	7477 3fce 6105 cpc r22,__zero_reg__
		7237	7478 3fd0 7105 cpc r23,__zero_reg__
		7238	7479 3fd2 04F0 brlt .L608
		7239	7480 3fd4 8091 0000 lds r24,AdNeutralRoll
		7240	7481 3fd8 9091 0000 lds r25,(AdNeutralRoll)+1
		7241	7482 3fdc 2091 0000 lds r18,cnt.14
		7242	7483 3fe0 3091 0000 lds r19,(cnt.14)+1
		7243	7484 3fe4 820F add r24,r18
		7244	7485 3fe6 931F adc r25,r19
		7245	7486 3fe8 9093 0000 sts (AdNeutralRoll)+1,r25
		7246	7487 3fec 8093 0000 sts AdNeutralRoll,r24
		7247	7488 .L608:
		7248	7489 3ff0 4058 subi r20,lo8(-128)
		7249	7490 3ff2 5F4F sbci r21,hi8(-128)
		7250	7491 3ff4 6F4F sbci r22,hlo8(-128)
		7251	7492 3ff6 7F4F sbci r23,hhi8(-128)
		7252	7493 3ff8 04F4 brge .L610
		7253	7494 3ffa 8091 0000 lds r24,AdNeutralRoll
		7254	7495 3ffe 9091 0000 lds r25,(AdNeutralRoll)+1
		7255	7496 4002 2091 0000 lds r18,cnt.14
		7256	7497 4006 3091 0000 lds r19,(cnt.14)+1
		7257	7498 400a 821B sub r24,r18
		7258	7499 400c 930B sbc r25,r19
		7259	7500 400e 9093 0000 sts (AdNeutralRoll)+1,r25
		7260	7501 4012 8093 0000 sts AdNeutralRoll,r24
		7261	7502 4016 00C0 rjmp .L610
		7262	7503 .L536:
		7263	7504 4018 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__
		7264	7505 401c 1092 0000 sts LageKorrekturRoll,__zero_reg__
		7265	7506 4020 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__
		7266	7507 4024 1092 0000 sts LageKorrekturNick,__zero_reg__
		7267	7508 4028 1092 0000 sts TrichterFlug,__zero_reg__
		7268	7509 .L610:
		7269	7510 402c 8091 0000 lds r24,IntegralFaktor
		7270	7511 4030 8823 tst r24
		7271	7512 4032 01F4 brne .L611
		7272	7513 4034 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__
		7273	7514 4038 1092 0000 sts LageKorrekturRoll,__zero_reg__
		7274	7515 403c 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__
		7275	7516 4040 1092 0000 sts LageKorrekturNick,__zero_reg__
		7276	7517 .L611:
		7277	7518 4044 8091 0000 lds r24,MittelIntegralNick
		7278	7519 4048 9091 0000 lds r25,(MittelIntegralNick)+1
		7279	7520 404c A091 0000 lds r26,(MittelIntegralNick)+2
		7280	7521 4050 B091 0000 lds r27,(MittelIntegralNick)+3
		7281	7522 4054 8093 0000 sts MittelIntegralNick_Alt.19,r24
		7282	7523 4058 9093 0000 sts (MittelIntegralNick_Alt.19)+1,r25
		7283	7524 405c A093 0000 sts (MittelIntegralNick_Alt.19)+2,r26
		7284	7525 4060 B093 0000 sts (MittelIntegralNick_Alt.19)+3,r27
		7285	7526 4064 8091 0000 lds r24,MittelIntegralRoll
		7286	7527 4068 9091 0000 lds r25,(MittelIntegralRoll)+1
		7287	7528 406c A091 0000 lds r26,(MittelIntegralRoll)+2
		7288	7529 4070 B091 0000 lds r27,(MittelIntegralRoll)+3
		7289	7530 4074 8093 0000 sts MittelIntegralRoll_Alt.20,r24
		7290	7531 4078 9093 0000 sts (MittelIntegralRoll_Alt.20)+1,r25
		7291	7532 407c A093 0000 sts (MittelIntegralRoll_Alt.20)+2,r26
		7292	7533 4080 B093 0000 sts (MittelIntegralRoll_Alt.20)+3,r27
		7293	7534 4084 1092 0000 sts IntegralAccNick,__zero_reg__
		7294	7535 4088 1092 0000 sts (IntegralAccNick)+1,__zero_reg__
		7295	7536 408c 1092 0000 sts (IntegralAccNick)+2,__zero_reg__
		7296	7537 4090 1092 0000 sts (IntegralAccNick)+3,__zero_reg__
		7297	7538 4094 1092 0000 sts IntegralAccRoll,__zero_reg__
		7298	7539 4098 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__
		7299	7540 409c 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__
		7300	7541 40a0 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__
		7301	7542 40a4 1092 0000 sts IntegralAccZ,__zero_reg__
		7302	7543 40a8 1092 0000 sts (IntegralAccZ)+1,__zero_reg__
		7303	7544 40ac 1092 0000 sts (IntegralAccZ)+2,__zero_reg__
		7304	7545 40b0 1092 0000 sts (IntegralAccZ)+3,__zero_reg__
		7305	7546 40b4 1092 0000 sts MittelIntegralNick,__zero_reg__
		7306	7547 40b8 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__
		7307	7548 40bc 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__
		7308	7549 40c0 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__
		7309	7550 40c4 1092 0000 sts MittelIntegralRoll,__zero_reg__
		7310	7551 40c8 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__
		7311	7552 40cc 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__
		7312	7553 40d0 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__
		7313	7554 40d4 1092 0000 sts MittelIntegralNick2,__zero_reg__
		7314	7555 40d8 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__
		7315	7556 40dc 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__
		7316	7557 40e0 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__
		7317	7558 40e4 1092 0000 sts MittelIntegralRoll2,__zero_reg__
		7318	7559 40e8 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__
		7319	7560 40ec 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__
		7320	7561 40f0 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__
		7321	7562 40f4 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__
		7322	7563 40f8 1092 0000 sts ZaehlMessungen,__zero_reg__
		7323	7564 .L535:
		7324	7565 40fc E090 0000 lds r14,StickGier
		7325	7566 4100 F090 0000 lds r15,(StickGier)+1
		7326	7567 4104 C701 movw r24,r14
		7327	7568 4106 F7FE sbrs r15,7
		7328	7569 4108 00C0 rjmp .L613
		7329	7570 410a 8827 clr r24
		7330	7571 410c 9927 clr r25
		7331	7572 410e 8E19 sub r24,r14
		7332	7573 4110 9F09 sbc r25,r15
		7333	7574 .L613:
		7334	7575 4112 0497 sbiw r24,4
		7335	7576 4114 04F0 brlt .L612
		7336	7577 4116 8091 0000 lds r24,Parameter_GlobalConfig
		7337	7578 411a 84FD sbrc r24,4
		7338	7579 411c 00C0 rjmp .L612
		7339	7580 411e 82E3 ldi r24,lo8(50)
		7340	7581 4120 8093 0000 sts NeueKompassRichtungMerken,r24
		7341	7582 .L612:
		7342	7583 4124 1091 0000 lds r17,EE_Parameter+25
		7343	7584 4128 A12E mov r10,r17
		7344	7585 412a BB24 clr r11
		7345	7586 412c CC24 clr r12
		7346	7587 412e DD24 clr r13
		7347	7588 4130 B701 movw r22,r14
		7348	7589 4132 8827 clr r24
		7349	7590 4134 77FD sbrc r23,7
		7350	7591 4136 8095 com r24
		7351	7592 4138 982F mov r25,r24
		7352	7593 413a 9701 movw r18,r14
		7353	7594 413c F7FE sbrs r15,7
		7354	7595 413e 00C0 rjmp .L615
		7355	7596 4140 2227 clr r18
		7356	7597 4142 3327 clr r19
		7357	7598 4144 2E19 sub r18,r14
		7358	7599 4146 3F09 sbc r19,r15
		7359	7600 .L615:
		7360	7601 4148 4427 clr r20
		7361	7602 414a 37FD sbrc r19,7
		7362	7603 414c 4095 com r20
		7363	7604 414e 542F mov r21,r20
		7364	7605 4150 0E94 0000 call __mulsi3
		7365	7606 4154 9B01 movw r18,r22
		7366	7607 4156 AC01 movw r20,r24
		7367	7608 4158 C601 movw r24,r12
		7368	7609 415a B501 movw r22,r10
		7369	7610 415c 0E94 0000 call __mulsi3
		7370	7611 4160 97FF sbrs r25,7
		7371	7612 4162 00C0 rjmp .L616
		7372	7613 4164 6150 subi r22,lo8(-(511))
		7373	7614 4166 7E4F sbci r23,hi8(-(511))
		7374	7615 4168 8F4F sbci r24,hlo8(-(511))
		7375	7616 416a 9F4F sbci r25,hhi8(-(511))
		7376	7617 .L616:
		7377	7618 416c 59E0 ldi r21,9
		7378	7619 416e 9595 1: asr r25
		7379	7620 4170 8795 ror r24
		7380	7621 4172 7795 ror r23
		7381	7622 4174 6795 ror r22
		7382	7623 4176 5A95 dec r21
		7383	7624 4178 01F4 brne 1b
		7384	7625 417a 9B01 movw r18,r22
		7385	7626 417c 812F mov r24,r17
		7386	7627 417e 9927 clr r25
		7387	7628 4180 8E9D mul r24,r14
		7388	7629 4182 D001 movw r26,r0
		7389	7630 4184 8F9D mul r24,r15
		7390	7631 4186 B00D add r27,r0
		7391	7632 4188 9E9D mul r25,r14
		7392	7633 418a B00D add r27,r0
		7393	7634 418c 1124 clr r1
		7394	7635 418e CD01 movw r24,r26
		7395	7636 4190 B7FD sbrc r27,7
		7396	7637 4192 0396 adiw r24,3
		7397	7638 .L617:
		7398	7639 4194 9595 asr r25
		7399	7640 4196 8795 ror r24
		7400	7641 4198 9595 asr r25
		7401	7642 419a 8795 ror r24
		7402	7643 419c 280F add r18,r24
		7403	7644 419e 391F adc r19,r25
		7404	7645 41a0 8091 0000 lds r24,CompassGierSetpoint
		7405	7646 41a4 9091 0000 lds r25,(CompassGierSetpoint)+1
		7406	7647 41a8 280F add r18,r24
		7407	7648 41aa 391F adc r19,r25
		7408	7649 41ac 4427 clr r20
		7409	7650 41ae 37FD sbrc r19,7
		7410	7651 41b0 4095 com r20
		7411	7652 41b2 542F mov r21,r20
		7412	7653 41b4 2093 0000 sts sollGier.0,r18
		7413	7654 41b8 3093 0000 sts (sollGier.0)+1,r19
		7414	7655 41bc 4093 0000 sts (sollGier.0)+2,r20
		7415	7656 41c0 5093 0000 sts (sollGier.0)+3,r21
		7416	7657 41c4 8091 0000 lds r24,Mess_Integral_Gier
		7417	7658 41c8 9091 0000 lds r25,(Mess_Integral_Gier)+1
		7418	7659 41cc A091 0000 lds r26,(Mess_Integral_Gier)+2
		7419	7660 41d0 B091 0000 lds r27,(Mess_Integral_Gier)+3
		7420	7661 41d4 821B sub r24,r18
		7421	7662 41d6 930B sbc r25,r19
		7422	7663 41d8 A40B sbc r26,r20
		7423	7664 41da B50B sbc r27,r21
		7424	7665 41dc 8093 0000 sts Mess_Integral_Gier,r24
		7425	7666 41e0 9093 0000 sts (Mess_Integral_Gier)+1,r25
		7426	7667 41e4 A093 0000 sts (Mess_Integral_Gier)+2,r26
		7427	7668 41e8 B093 0000 sts (Mess_Integral_Gier)+3,r27
		7428	7669 41ec 8155 subi r24,lo8(50001)
		7429	7670 41ee 934C sbci r25,hi8(50001)
		7430	7671 41f0 A040 sbci r26,hlo8(50001)
		7431	7672 41f2 B040 sbci r27,hhi8(50001)
		7432	7673 41f4 04F0 brlt .L618
		7433	7674 41f6 80E5 ldi r24,lo8(50000)
		7434	7675 41f8 93EC ldi r25,hi8(50000)
		7435	7676 41fa A0E0 ldi r26,hlo8(50000)
		7436	7677 41fc B0E0 ldi r27,hhi8(50000)
		7437	7678 41fe 8093 0000 sts Mess_Integral_Gier,r24
		7438	7679 4202 9093 0000 sts (Mess_Integral_Gier)+1,r25
		7439	7680 4206 A093 0000 sts (Mess_Integral_Gier)+2,r26
		7440	7681 420a B093 0000 sts (Mess_Integral_Gier)+3,r27
		7441	7682 .L618:
		7442	7683 420e 8091 0000 lds r24,Mess_Integral_Gier
		7443	7684 4212 9091 0000 lds r25,(Mess_Integral_Gier)+1
		7444	7685 4216 A091 0000 lds r26,(Mess_Integral_Gier)+2
		7445	7686 421a B091 0000 lds r27,(Mess_Integral_Gier)+3
		7446	7687 421e 805B subi r24,lo8(-50000)
		7447	7688 4220 9C43 sbci r25,hi8(-50000)
		7448	7689 4222 AF4F sbci r26,hlo8(-50000)
		7449	7690 4224 BF4F sbci r27,hhi8(-50000)
		7450	7691 4226 04F4 brge .L619
		7451	7692 4228 80EB ldi r24,lo8(-50000)
		7452	7693 422a 9CE3 ldi r25,hi8(-50000)
		7453	7694 422c AFEF ldi r26,hlo8(-50000)
		7454	7695 422e BFEF ldi r27,hhi8(-50000)
		7455	7696 4230 8093 0000 sts Mess_Integral_Gier,r24
		7456	7697 4234 9093 0000 sts (Mess_Integral_Gier)+1,r25
		7457	7698 4238 A093 0000 sts (Mess_Integral_Gier)+2,r26
		7458	7699 423c B093 0000 sts (Mess_Integral_Gier)+3,r27
		7459	7700 .L619:
		7460	7701 4240 0091 0000 lds r16,KompassValue
		7461	7702 4244 1091 0000 lds r17,(KompassValue)+1
		7462	7703 4248 17FD sbrc r17,7
		7463	7704 424a 00C0 rjmp .L620
		7464	7705 424c 8091 0000 lds r24,Parameter_GlobalConfig
		7465	7706 4250 83FF sbrs r24,3
		7466	7707 4252 00C0 rjmp .L620
		7467	7708 4254 8091 0000 lds r24,CalculateCompassTimer
		7468	7709 4258 8150 subi r24,lo8(-(-1))
		7469	7710 425a 8093 0000 sts CalculateCompassTimer,r24
		7470	7711 425e 8823 tst r24
		7471	7712 4260 01F0 breq .+2
		7472	7713 4262 00C0 rjmp .L637
		7473	7714 4264 8DE0 ldi r24,lo8(13)
		7474	7715 4266 8093 0000 sts CalculateCompassTimer,r24
		7475	7716 426a 8091 0000 lds r24,IntegralNick
		7476	7717 426e 9091 0000 lds r25,(IntegralNick)+1
		7477	7718 4272 A091 0000 lds r26,(IntegralNick)+2
		7478	7719 4276 B091 0000 lds r27,(IntegralNick)+3
		7479	7720 427a B7FF sbrs r27,7
		7480	7721 427c 00C0 rjmp .L622
		7481	7722 427e 8150 subi r24,lo8(-(511))
		7482	7723 4280 9E4F sbci r25,hi8(-(511))
		7483	7724 4282 AF4F sbci r26,hlo8(-(511))
		7484	7725 4284 BF4F sbci r27,hhi8(-(511))
		7485	7726 .L622:
		7486	7727 4286 39E0 ldi r19,9
		7487	7728 4288 B595 1: asr r27
		7488	7729 428a A795 ror r26
		7489	7730 428c 9795 ror r25
		7490	7731 428e 8795 ror r24
		7491	7732 4290 3A95 dec r19
		7492	7733 4292 01F4 brne 1b
		7493	7734 4294 7C01 movw r14,r24
		7494	7735 4296 97FF sbrs r25,7
		7495	7736 4298 00C0 rjmp .L623
		7496	7737 429a F094 com r15
		7497	7738 429c E194 neg r14
		7498	7739 429e F108 sbc r15,__zero_reg__
		7499	7740 42a0 F394 inc r15
		7500	7741 .L623:
		7501	7742 42a2 8091 0000 lds r24,IntegralRoll
		7502	7743 42a6 9091 0000 lds r25,(IntegralRoll)+1
		7503	7744 42aa A091 0000 lds r26,(IntegralRoll)+2
		7504	7745 42ae B091 0000 lds r27,(IntegralRoll)+3
		7505	7746 42b2 B7FF sbrs r27,7
		7506	7747 42b4 00C0 rjmp .L624
		7507	7748 42b6 8150 subi r24,lo8(-(511))
		7508	7749 42b8 9E4F sbci r25,hi8(-(511))
		7509	7750 42ba AF4F sbci r26,hlo8(-(511))
		7510	7751 42bc BF4F sbci r27,hhi8(-(511))
		7511	7752 .L624:
		7512	7753 42be 29E0 ldi r18,9
		7513	7754 42c0 B595 1: asr r27
		7514	7755 42c2 A795 ror r26
		7515	7756 42c4 9795 ror r25
		7516	7757 42c6 8795 ror r24
		7517	7758 42c8 2A95 dec r18
		7518	7759 42ca 01F4 brne 1b
		7519	7760 42cc 9C01 movw r18,r24
		7520	7761 42ce 97FF sbrs r25,7
		7521	7762 42d0 00C0 rjmp .L625
		7522	7763 42d2 3095 com r19
		7523	7764 42d4 2195 neg r18
		7524	7765 42d6 3F4F sbci r19,lo8(-1)
		7525	7766 .L625:
		7526	7767 42d8 E216 cp r14,r18
		7527	7768 42da F306 cpc r15,r19
		7528	7769 42dc 04F4 brge .L626
		7529	7770 42de 7901 movw r14,r18
		7530	7771 .L626:
		7531	7772 42e0 B701 movw r22,r14
		7532	7773 42e2 F7FE sbrs r15,7
		7533	7774 42e4 00C0 rjmp .L627
		7534	7775 42e6 695F subi r22,lo8(-(7))
		7535	7776 42e8 7F4F sbci r23,hi8(-(7))
		7536	7777 .L627:
		7537	7778 42ea 2B01 movw r4,r22
		7538	7779 42ec A3E0 ldi r26,3
		7539	7780 42ee 5594 1: asr r5
		7540	7781 42f0 4794 ror r4
		7541	7782 42f2 AA95 dec r26
		7542	7783 42f4 01F4 brne 1b
		7543	7784 42f6 22E0 ldi r18,lo8(2)
		7544	7785 42f8 30E0 ldi r19,hi8(2)
		7545	7786 42fa 420E add r4,r18
		7546	7787 42fc 531E adc r5,r19
		7547	7788 42fe 6090 0000 lds r6,ErsatzKompass
		7548	7789 4302 7090 0000 lds r7,(ErsatzKompass)+1
		7549	7790 4306 8090 0000 lds r8,(ErsatzKompass)+2
		7550	7791 430a 9090 0000 lds r9,(ErsatzKompass)+3
		7551	7792 430e 2091 0000 lds r18,GIER_GRAD_FAKTOR
		7552	7793 4312 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1
		7553	7794 4316 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2
		7554	7795 431a 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3
		7555	7796 431e C401 movw r24,r8
		7556	7797 4320 B301 movw r22,r6
		7557	7798 4322 0E94 0000 call __divmodsi4
		7558	7799 4326 5901 movw r10,r18
		7559	7800 4328 6A01 movw r12,r20
		7560	7801 432a 3093 0000 sts (ErsatzKompassInGrad)+1,r19
		7561	7802 432e 2093 0000 sts ErsatzKompassInGrad,r18
		7562	7803 4332 021B sub r16,r18
		7563	7804 4334 130B sbc r17,r19
		7564	7805 4336 C801 movw r24,r16
		7565	7806 4338 845E subi r24,lo8(-(540))
		7566	7807 433a 9D4F sbci r25,hi8(-(540))
		7567	7808 433c 68E6 ldi r22,lo8(360)
		7568	7809 433e 71E0 ldi r23,hi8(360)
		7569	7810 4340 0E94 0000 call __divmodhi4
		7570	7811 4344 9C01 movw r18,r24
		7571	7812 4346 245B subi r18,lo8(-(-180))
		7572	7813 4348 3040 sbci r19,hi8(-(-180))
		7573	7814 434a 8091 0000 lds r24,KompassSignalSchlecht
		7574	7815 434e 9091 0000 lds r25,(KompassSignalSchlecht)+1
		7575	7816 4352 0097 sbiw r24,0
		7576	7817 4354 01F0 breq .L628
		7577	7818 4356 0197 sbiw r24,1
		7578	7819 4358 9093 0000 sts (KompassSignalSchlecht)+1,r25
		7579	7820 435c 8093 0000 sts KompassSignalSchlecht,r24
		7580	7821 4360 00C0 rjmp .L629
		7581	7822 .L628:
		7582	7823 4362 49E1 ldi r20,lo8(25)
		7583	7824 4364 E416 cp r14,r20
		7584	7825 4366 F104 cpc r15,__zero_reg__
		7585	7826 4368 04F4 brge .L629
		7586	7827 436a 8091 0000 lds r24,GierGyroFehler
		7587	7828 436e 9091 0000 lds r25,(GierGyroFehler)+1
		7588	7829 4372 820F add r24,r18
		7589	7830 4374 931F adc r25,r19
		7590	7831 4376 9093 0000 sts (GierGyroFehler)+1,r25
		7591	7832 437a 8093 0000 sts GierGyroFehler,r24
		7592	7833 437e 8091 0000 lds r24,NeueKompassRichtungMerken
		7593	7834 4382 8823 tst r24
		7594	7835 4384 01F0 breq .L629
		7595	7836 4386 8150 subi r24,lo8(-(-1))
		7596	7837 4388 8093 0000 sts NeueKompassRichtungMerken,r24
		7597	7838 438c 8823 tst r24
		7598	7839 438e 01F4 brne .L629
		7599	7840 4390 B092 0000 sts (KompassSollWert)+1,r11
		7600	7841 4394 A092 0000 sts KompassSollWert,r10
		7601	7842 .L629:
		7602	7843 4398 8091 0000 lds r24,KompassSignalSchlecht
		7603	7844 439c 9091 0000 lds r25,(KompassSignalSchlecht)+1
		7604	7845 43a0 892B or r24,r25
		7605	7846 43a2 01F4 brne .L633
		7606	7847 43a4 8091 0000 lds r24,KompassFusion
		7607	7848 43a8 9927 clr r25
		7608	7849 43aa 289F mul r18,r24
		7609	7850 43ac B001 movw r22,r0
		7610	7851 43ae 299F mul r18,r25
		7611	7852 43b0 700D add r23,r0
		7612	7853 43b2 389F mul r19,r24
		7613	7854 43b4 700D add r23,r0
		7614	7855 43b6 1124 clr r1
		7615	7856 43b8 CB01 movw r24,r22
		7616	7857 43ba B201 movw r22,r4
		7617	7858 43bc 0E94 0000 call __divmodhi4
		7618	7859 43c0 CB01 movw r24,r22
		7619	7860 43c2 AA27 clr r26
		7620	7861 43c4 97FD sbrc r25,7
		7621	7862 43c6 A095 com r26
		7622	7863 43c8 BA2F mov r27,r26
		7623	7864 43ca 680E add r6,r24
		7624	7865 43cc 791E adc r7,r25
		7625	7866 43ce 8A1E adc r8,r26
		7626	7867 43d0 9B1E adc r9,r27
		7627	7868 43d2 6092 0000 sts ErsatzKompass,r6
		7628	7869 43d6 7092 0000 sts (ErsatzKompass)+1,r7
		7629	7870 43da 8092 0000 sts (ErsatzKompass)+2,r8
		7630	7871 43de 9092 0000 sts (ErsatzKompass)+3,r9
		7631	7872 .L633:
		7632	7873 43e2 8091 0000 lds r24,NeueKompassRichtungMerken
		7633	7874 43e6 8823 tst r24
		7634	7875 43e8 01F4 brne .L620
		7635	7876 43ea 8091 0000 lds r24,KompassSollWert
		7636	7877 43ee 9091 0000 lds r25,(KompassSollWert)+1
		7637	7878 43f2 2091 0000 lds r18,ErsatzKompassInGrad
		7638	7879 43f6 3091 0000 lds r19,(ErsatzKompassInGrad)+1
		7639	7880 43fa 821B sub r24,r18
		7640	7881 43fc 930B sbc r25,r19
		7641	7882 43fe 845E subi r24,lo8(-(540))
		7642	7883 4400 9D4F sbci r25,hi8(-(540))
		7643	7884 4402 68E6 ldi r22,lo8(360)
		7644	7885 4404 71E0 ldi r23,hi8(360)
		7645	7886 4406 0E94 0000 call __divmodhi4
		7646	7887 440a 9C01 movw r18,r24
		7647	7888 440c 245B subi r18,lo8(-(-180))
		7648	7889 440e 3040 sbci r19,hi8(-(-180))
		7649	7890 4410 8091 0000 lds r24,Parameter_KompassWirkung
		7650	7891 4414 8695 lsr r24
		7651	7892 4416 9927 clr r25
		7652	7893 4418 289F mul r18,r24
		7653	7894 441a D001 movw r26,r0
		7654	7895 441c 299F mul r18,r25
		7655	7896 441e B00D add r27,r0
		7656	7897 4420 389F mul r19,r24
		7657	7898 4422 B00D add r27,r0
		7658	7899 4424 1124 clr r1
		7659	7900 4426 9D01 movw r18,r26
		7660	7901 4428 B7FF sbrs r27,7
		7661	7902 442a 00C0 rjmp .L635
		7662	7903 442c 215F subi r18,lo8(-(15))
		7663	7904 442e 3F4F sbci r19,hi8(-(15))
		7664	7905 .L635:
		7665	7906 4430 F4E0 ldi r31,4
		7666	7907 4432 3595 1: asr r19
		7667	7908 4434 2795 ror r18
		7668	7909 4436 FA95 dec r31
		7669	7910 4438 01F4 brne 1b
		7670	7911 443a 3093 0000 sts (CompassGierSetpoint)+1,r19
		7671	7912 443e 2093 0000 sts CompassGierSetpoint,r18
		7672	7913 4442 00C0 rjmp .L637
		7673	7914 .L620:
		7674	7915 4444 1092 0000 sts (CompassGierSetpoint)+1,__zero_reg__
		7675	7916 4448 1092 0000 sts CompassGierSetpoint,__zero_reg__
		7676	7917 .L637:
		7677	7918 444c 8091 0000 lds r24,TrichterFlug
		7678	7919 4450 8823 tst r24
		7679	7920 4452 01F0 breq .L638
		7680	7921 4454 1092 0000 sts SummeRoll,__zero_reg__
		7681	7922 4458 1092 0000 sts (SummeRoll)+1,__zero_reg__
		7682	7923 445c 1092 0000 sts (SummeRoll)+2,__zero_reg__
		7683	7924 4460 1092 0000 sts (SummeRoll)+3,__zero_reg__
		7684	7925 4464 1092 0000 sts SummeNick,__zero_reg__
		7685	7926 4468 1092 0000 sts (SummeNick)+1,__zero_reg__
		7686	7927 446c 1092 0000 sts (SummeNick)+2,__zero_reg__
		7687	7928 4470 1092 0000 sts (SummeNick)+3,__zero_reg__
		7688	7929 .L638:
		7689	7930 4474 F090 0000 lds r15,Looping_Nick
		7690	7931 4478 FF20 tst r15
		7691	7932 447a 01F4 brne .L639
		7692	7933 447c 8091 0000 lds r24,IntegralFaktor
		7693	7934 4480 282F mov r18,r24
		7694	7935 4482 3327 clr r19
		7695	7936 4484 4427 clr r20
		7696	7937 4486 5527 clr r21
		7697	7938 4488 8091 0000 lds r24,IntegralNick
		7698	7939 448c 9091 0000 lds r25,(IntegralNick)+1
		7699	7940 4490 A091 0000 lds r26,(IntegralNick)+2
		7700	7941 4494 B091 0000 lds r27,(IntegralNick)+3
		7701	7942 4498 BC01 movw r22,r24
		7702	7943 449a CD01 movw r24,r26
		7703	7944 449c 0E94 0000 call __mulsi3
		7704	7945 44a0 DC01 movw r26,r24
		7705	7946 44a2 CB01 movw r24,r22
		7706	7947 44a4 BC01 movw r22,r24
		7707	7948 44a6 CD01 movw r24,r26
		7708	7949 44a8 28EF ldi r18,lo8(11000)
		7709	7950 44aa 3AE2 ldi r19,hi8(11000)
		7710	7951 44ac 40E0 ldi r20,hlo8(11000)
		7711	7952 44ae 50E0 ldi r21,hhi8(11000)
		7712	7953 44b0 0E94 0000 call __divmodsi4
		7713	7954 44b4 3901 movw r6,r18
		7714	7955 44b6 00C0 rjmp .L640
		7715	7956 .L639:
		7716	7957 44b8 6624 clr r6
		7717	7958 44ba 7724 clr r7
		7718	7959 .L640:
		7719	7960 44bc E090 0000 lds r14,Looping_Roll
		7720	7961 44c0 EE20 tst r14
		7721	7962 44c2 01F4 brne .L641
		7722	7963 44c4 8091 0000 lds r24,IntegralFaktor
		7723	7964 44c8 282F mov r18,r24
		7724	7965 44ca 3327 clr r19
		7725	7966 44cc 4427 clr r20
		7726	7967 44ce 5527 clr r21
		7727	7968 44d0 8091 0000 lds r24,IntegralRoll
		7728	7969 44d4 9091 0000 lds r25,(IntegralRoll)+1
		7729	7970 44d8 A091 0000 lds r26,(IntegralRoll)+2
		7730	7971 44dc B091 0000 lds r27,(IntegralRoll)+3
		7731	7972 44e0 BC01 movw r22,r24
		7732	7973 44e2 CD01 movw r24,r26
		7733	7974 44e4 0E94 0000 call __mulsi3
		7734	7975 44e8 DC01 movw r26,r24
		7735	7976 44ea CB01 movw r24,r22
		7736	7977 44ec BC01 movw r22,r24
		7737	7978 44ee CD01 movw r24,r26
		7738	7979 44f0 28EF ldi r18,lo8(11000)
		7739	7980 44f2 3AE2 ldi r19,hi8(11000)
		7740	7981 44f4 40E0 ldi r20,hlo8(11000)
		7741	7982 44f6 50E0 ldi r21,hhi8(11000)
		7742	7983 44f8 0E94 0000 call __divmodsi4
		7743	7984 44fc 2901 movw r4,r18
		7744	7985 44fe 00C0 rjmp .L642
		7745	7986 .L641:
		7746	7987 4500 4424 clr r4
		7747	7988 4502 5524 clr r5
		7748	7989 .L642:
		7749	7990 4504 8091 0000 lds r24,TrimNick
		7750	7991 4508 9091 0000 lds r25,(TrimNick)+1
		7751	7992 450c 893C cpi r24,201
		7752	7993 450e 9105 cpc r25,__zero_reg__
		7753	7994 4510 04F0 brlt .L643
		7754	7995 4512 88EC ldi r24,lo8(200)
		7755	7996 4514 90E0 ldi r25,hi8(200)
		7756	7997 4516 00C0 rjmp .L900
		7757	7998 .L643:
		7758	7999 4518 8853 subi r24,lo8(-200)
		7759	8000 451a 9F4F sbci r25,hi8(-200)
		7760	8001 451c 04F4 brge .L644
		7761	8002 451e 88E3 ldi r24,lo8(-200)
		7762	8003 4520 9FEF ldi r25,hi8(-200)
		7763	8004 .L900:
		7764	8005 4522 9093 0000 sts (TrimNick)+1,r25
		7765	8006 4526 8093 0000 sts TrimNick,r24
		7766	8007 .L644:
		7767	8008 452a 8091 0000 lds r24,TrimRoll
		7768	8009 452e 9091 0000 lds r25,(TrimRoll)+1
		7769	8010 4532 893C cpi r24,201
		7770	8011 4534 9105 cpc r25,__zero_reg__
		7771	8012 4536 04F0 brlt .L646
		7772	8013 4538 88EC ldi r24,lo8(200)
		7773	8014 453a 90E0 ldi r25,hi8(200)
		7774	8015 453c 00C0 rjmp .L901
		7775	8016 .L646:
		7776	8017 453e 8853 subi r24,lo8(-200)
		7777	8018 4540 9F4F sbci r25,hi8(-200)
		7778	8019 4542 04F4 brge .L647
		7779	8020 4544 88E3 ldi r24,lo8(-200)
		7780	8021 4546 9FEF ldi r25,hi8(-200)
		7781	8022 .L901:
		7782	8023 4548 9093 0000 sts (TrimRoll)+1,r25
		7783	8024 454c 8093 0000 sts TrimRoll,r24
		7784	8025 .L647:
		7785	8026 4550 8091 0000 lds r24,MesswertNick
		7786	8027 4554 9091 0000 lds r25,(MesswertNick)+1
		7787	8028 4558 AA27 clr r26
		7788	8029 455a 97FD sbrc r25,7
		7789	8030 455c A095 com r26
		7790	8031 455e BA2F mov r27,r26
		7791	8032 4560 2091 0000 lds r18,GyroFaktor
		7792	8033 4564 A22E mov r10,r18
		7793	8034 4566 BB24 clr r11
		7794	8035 4568 CC24 clr r12
		7795	8036 456a DD24 clr r13
		7796	8037 456c BC01 movw r22,r24
		7797	8038 456e CD01 movw r24,r26
		7798	8039 4570 A601 movw r20,r12
		7799	8040 4572 9501 movw r18,r10
		7800	8041 4574 0E94 0000 call __mulsi3
		7801	8042 4578 9B01 movw r18,r22
		7802	8043 457a AC01 movw r20,r24
		7803	8044 457c 8091 0000 lds r24,TrimNick
		7804	8045 4580 9091 0000 lds r25,(TrimNick)+1
		7805	8046 4584 AA27 clr r26
		7806	8047 4586 97FD sbrc r25,7
		7807	8048 4588 A095 com r26
		7808	8049 458a BA2F mov r27,r26
		7809	8050 458c E7E0 ldi r30,7
		7810	8051 458e 880F 1: lsl r24
		7811	8052 4590 991F rol r25
		7812	8053 4592 AA1F rol r26
		7813	8054 4594 BB1F rol r27
		7814	8055 4596 EA95 dec r30
		7815	8056 4598 01F4 brne 1b
		7816	8057 459a 280F add r18,r24
		7817	8058 459c 391F adc r19,r25
		7818	8059 459e 4A1F adc r20,r26
		7819	8060 45a0 5B1F adc r21,r27
		7820	8061 45a2 57FF sbrs r21,7
		7821	8062 45a4 00C0 rjmp .L649
		7822	8063 45a6 215C subi r18,lo8(-(63))
		7823	8064 45a8 3F4F sbci r19,hi8(-(63))
		7824	8065 45aa 4F4F sbci r20,hlo8(-(63))
		7825	8066 45ac 5F4F sbci r21,hhi8(-(63))
		7826	8067 .L649:
		7827	8068 45ae 76E0 ldi r23,6
		7828	8069 45b0 5595 1: asr r21
		7829	8070 45b2 4795 ror r20
		7830	8071 45b4 3795 ror r19
		7831	8072 45b6 2795 ror r18
		7832	8073 45b8 7A95 dec r23
		7833	8074 45ba 01F4 brne 1b
		7834	8075 45bc 8301 movw r16,r6
		7835	8076 45be 020F add r16,r18
		7836	8077 45c0 131F adc r17,r19
		7837	8078 45c2 1093 0000 sts (MesswertNick)+1,r17
		7838	8079 45c6 0093 0000 sts MesswertNick,r16
		7839	8080 45ca 8091 0000 lds r24,MesswertRoll
		7840	8081 45ce 9091 0000 lds r25,(MesswertRoll)+1
		7841	8082 45d2 AA27 clr r26
		7842	8083 45d4 97FD sbrc r25,7
		7843	8084 45d6 A095 com r26
		7844	8085 45d8 BA2F mov r27,r26
		7845	8086 45da BC01 movw r22,r24
		7846	8087 45dc CD01 movw r24,r26
		7847	8088 45de A601 movw r20,r12
		7848	8089 45e0 9501 movw r18,r10
		7849	8090 45e2 0E94 0000 call __mulsi3
		7850	8091 45e6 9B01 movw r18,r22
		7851	8092 45e8 AC01 movw r20,r24
		7852	8093 45ea 8091 0000 lds r24,TrimRoll
		7853	8094 45ee 9091 0000 lds r25,(TrimRoll)+1
		7854	8095 45f2 AA27 clr r26
		7855	8096 45f4 97FD sbrc r25,7
		7856	8097 45f6 A095 com r26
		7857	8098 45f8 BA2F mov r27,r26
		7858	8099 45fa 67E0 ldi r22,7
		7859	8100 45fc 880F 1: lsl r24
		7860	8101 45fe 991F rol r25
		7861	8102 4600 AA1F rol r26
		7862	8103 4602 BB1F rol r27
		7863	8104 4604 6A95 dec r22
		7864	8105 4606 01F4 brne 1b
		7865	8106 4608 280F add r18,r24
		7866	8107 460a 391F adc r19,r25
		7867	8108 460c 4A1F adc r20,r26
		7868	8109 460e 5B1F adc r21,r27
		7869	8110 4610 57FF sbrs r21,7
		7870	8111 4612 00C0 rjmp .L650
		7871	8112 4614 215C subi r18,lo8(-(63))
		7872	8113 4616 3F4F sbci r19,hi8(-(63))
		7873	8114 4618 4F4F sbci r20,hlo8(-(63))
		7874	8115 461a 5F4F sbci r21,hhi8(-(63))
		7875	8116 .L650:
		7876	8117 461c F6E0 ldi r31,6
		7877	8118 461e 5595 1: asr r21
		7878	8119 4620 4795 ror r20
		7879	8120 4622 3795 ror r19
		7880	8121 4624 2795 ror r18
		7881	8122 4626 FA95 dec r31
		7882	8123 4628 01F4 brne 1b
		7883	8124 462a 4201 movw r8,r4
		7884	8125 462c 820E add r8,r18
		7885	8126 462e 931E adc r9,r19
		7886	8127 4630 9092 0000 sts (MesswertRoll)+1,r9
		7887	8128 4634 8092 0000 sts MesswertRoll,r8
		7888	8129 4638 8091 0000 lds r24,MesswertGier
		7889	8130 463c 9091 0000 lds r25,(MesswertGier)+1
		7890	8131 4640 880F add r24,r24
		7891	8132 4642 991F adc r25,r25
		7892	8133 4644 AA27 clr r26
		7893	8134 4646 97FD sbrc r25,7
		7894	8135 4648 A095 com r26
		7895	8136 464a BA2F mov r27,r26
		7896	8137 464c 2091 0000 lds r18,GyroFaktorGier
		7897	8138 4650 3327 clr r19
		7898	8139 4652 4427 clr r20
		7899	8140 4654 5527 clr r21
		7900	8141 4656 BC01 movw r22,r24
		7901	8142 4658 CD01 movw r24,r26
		7902	8143 465a 0E94 0000 call __mulsi3
		7903	8144 465e 5B01 movw r10,r22
		7904	8145 4660 6C01 movw r12,r24
		7905	8146 4662 97FF sbrs r25,7
		7906	8147 4664 00C0 rjmp .L651
		7907	8148 4666 2FE3 ldi r18,lo8(63)
		7908	8149 4668 30E0 ldi r19,hi8(63)
		7909	8150 466a 40E0 ldi r20,hlo8(63)
		7910	8151 466c 50E0 ldi r21,hhi8(63)
		7911	8152 466e A20E add r10,r18
		7912	8153 4670 B31E adc r11,r19
		7913	8154 4672 C41E adc r12,r20
		7914	8155 4674 D51E adc r13,r21
		7915	8156 .L651:
		7916	8157 4676 E6E0 ldi r30,6
		7917	8158 4678 D594 1: asr r13
		7918	8159 467a C794 ror r12
		7919	8160 467c B794 ror r11
		7920	8161 467e A794 ror r10
		7921	8162 4680 EA95 dec r30
		7922	8163 4682 01F4 brne 1b
		7923	8164 4684 8091 0000 lds r24,IntegralFaktorGier
		7924	8165 4688 282F mov r18,r24
		7925	8166 468a 3327 clr r19
		7926	8167 468c 4427 clr r20
		7927	8168 468e 5527 clr r21
		7928	8169 4690 8091 0000 lds r24,Integral_Gier
		7929	8170 4694 9091 0000 lds r25,(Integral_Gier)+1
		7930	8171 4698 A091 0000 lds r26,(Integral_Gier)+2
		7931	8172 469c B091 0000 lds r27,(Integral_Gier)+3
		7932	8173 46a0 BC01 movw r22,r24
		7933	8174 46a2 CD01 movw r24,r26
		7934	8175 46a4 0E94 0000 call __mulsi3
		7935	8176 46a8 DC01 movw r26,r24
		7936	8177 46aa CB01 movw r24,r22
		7937	8178 46ac BC01 movw r22,r24
		7938	8179 46ae CD01 movw r24,r26
		7939	8180 46b0 20EF ldi r18,lo8(22000)
		7940	8181 46b2 35E5 ldi r19,hi8(22000)
		7941	8182 46b4 40E0 ldi r20,hlo8(22000)
		7942	8183 46b6 50E0 ldi r21,hhi8(22000)
		7943	8184 46b8 0E94 0000 call __divmodsi4
		7944	8185 46bc B501 movw r22,r10
		7945	8186 46be 620F add r22,r18
		7946	8187 46c0 731F adc r23,r19
		7947	8188 46c2 7093 0000 sts (MesswertGier)+1,r23
		7948	8189 46c6 6093 0000 sts MesswertGier,r22
		7949	8190 46ca 0150 subi r16,lo8(4097)
		7950	8191 46cc 1041 sbci r17,hi8(4097)
		7951	8192 46ce 04F0 brlt .L652
		7952	8193 46d0 80E0 ldi r24,lo8(4096)
		7953	8194 46d2 90E1 ldi r25,hi8(4096)
		7954	8195 46d4 9093 0000 sts (MesswertNick)+1,r25
		7955	8196 46d8 8093 0000 sts MesswertNick,r24
		7956	8197 .L652:
		7957	8198 46dc 8091 0000 lds r24,MesswertNick
		7958	8199 46e0 9091 0000 lds r25,(MesswertNick)+1
		7959	8200 46e4 8050 subi r24,lo8(-4096)
		7960	8201 46e6 904F sbci r25,hi8(-4096)
		7961	8202 46e8 04F4 brge .L653
		7962	8203 46ea 80E0 ldi r24,lo8(-4096)
		7963	8204 46ec 90EF ldi r25,hi8(-4096)
		7964	8205 46ee 9093 0000 sts (MesswertNick)+1,r25
		7965	8206 46f2 8093 0000 sts MesswertNick,r24
		7966	8207 .L653:
		7967	8208 46f6 51E0 ldi r21,lo8(4097)
		7968	8209 46f8 8516 cp r8,r21
		7969	8210 46fa 50E1 ldi r21,hi8(4097)
		7970	8211 46fc 9506 cpc r9,r21
		7971	8212 46fe 04F0 brlt .L654
		7972	8213 4700 80E0 ldi r24,lo8(4096)
		7973	8214 4702 90E1 ldi r25,hi8(4096)
		7974	8215 4704 9093 0000 sts (MesswertRoll)+1,r25
		7975	8216 4708 8093 0000 sts MesswertRoll,r24
		7976	8217 .L654:
		7977	8218 470c 8091 0000 lds r24,MesswertRoll
		7978	8219 4710 9091 0000 lds r25,(MesswertRoll)+1
		7979	8220 4714 8050 subi r24,lo8(-4096)
		7980	8221 4716 904F sbci r25,hi8(-4096)
		7981	8222 4718 04F4 brge .L655
		7982	8223 471a 80E0 ldi r24,lo8(-4096)
		7983	8224 471c 90EF ldi r25,hi8(-4096)
		7984	8225 471e 9093 0000 sts (MesswertRoll)+1,r25
		7985	8226 4722 8093 0000 sts MesswertRoll,r24
		7986	8227 .L655:
		7987	8228 4726 6150 subi r22,lo8(4097)
		7988	8229 4728 7041 sbci r23,hi8(4097)
		7989	8230 472a 04F0 brlt .L656
		7990	8231 472c 80E0 ldi r24,lo8(4096)
		7991	8232 472e 90E1 ldi r25,hi8(4096)
		7992	8233 4730 9093 0000 sts (MesswertGier)+1,r25
		7993	8234 4734 8093 0000 sts MesswertGier,r24
		7994	8235 .L656:
		7995	8236 4738 8091 0000 lds r24,MesswertGier
		7996	8237 473c 9091 0000 lds r25,(MesswertGier)+1
		7997	8238 4740 8050 subi r24,lo8(-4096)
		7998	8239 4742 904F sbci r25,hi8(-4096)
		7999	8240 4744 04F4 brge .L657
		8000	8241 4746 80E0 ldi r24,lo8(-4096)
		8001	8242 4748 90EF ldi r25,hi8(-4096)
		8002	8243 474a 9093 0000 sts (MesswertGier)+1,r25
		8003	8244 474e 8093 0000 sts MesswertGier,r24
		8004	8245 .L657:
		8005	8246 4752 8091 0000 lds r24,BattLowVoltageWarning
		8006	8247 4756 482F mov r20,r24
		8007	8248 4758 5527 clr r21
		8008	8249 475a 8091 0000 lds r24,UBat
		8009	8250 475e 9091 0000 lds r25,(UBat)+1
		8010	8251 4762 4817 cp r20,r24
		8011	8252 4764 5907 cpc r21,r25
		8012	8253 4766 04F4 brge .L658
		8013	8254 4768 2091 0000 lds r18,UBat
		8014	8255 476c 3091 0000 lds r19,(UBat)+1
		8015	8256 4770 0981 ldd r16,Y+1
		8016	8257 4772 1A81 ldd r17,Y+2
		8017	8258 4774 049F mul r16,r20
		8018	8259 4776 C001 movw r24,r0
		8019	8260 4778 059F mul r16,r21
		8020	8261 477a 900D add r25,r0
		8021	8262 477c 149F mul r17,r20
		8022	8263 477e 900D add r25,r0
		8023	8264 4780 1124 clr r1
		8024	8265 4782 B901 movw r22,r18
		8025	8266 4784 0E94 0000 call __udivmodhi4
		8026	8267 4788 7A83 std Y+2,r23
		8027	8268 478a 6983 std Y+1,r22
		8028	8269 .L658:
		8029	8270 478c 2981 ldd r18,Y+1
		8030	8271 478e 3A81 ldd r19,Y+2
		8031	8272 4790 220F lsl r18
		8032	8273 4792 331F rol r19
		8033	8274 4794 220F lsl r18
		8034	8275 4796 331F rol r19
		8035	8276 4798 3A83 std Y+2,r19
		8036	8277 479a 2983 std Y+1,r18
		8037	8278 479c 4091 0000 lds r20,Parameter_GlobalConfig
		8038	8279 47a0 40FD sbrc r20,0
		8039	8280 47a2 00C0 rjmp .+4
		8040	8281 47a4 0C94 0000 jmp .L659
		8041	8282 47a8 EE20 tst r14
		8042	8283 47aa 01F0 breq .+4
		8043	8284 47ac 0C94 0000 jmp .L659
		8044	8285 47b0 FF20 tst r15
		8045	8286 47b2 01F0 breq .+4
		8046	8287 47b4 0C94 0000 jmp .L659
		8047	8288 47b8 00E0 ldi r16,lo8(0)
		8048	8289 47ba 10E0 ldi r17,hi8(0)
		8049	8290 47bc 4801 movw r8,r16
		8050	8291 47be 8091 0000 lds r24,HoverGas
		8051	8292 47c2 9091 0000 lds r25,(HoverGas)+1
		8052	8293 47c6 9093 0000 sts (DebugOut+44)+1,r25
		8053	8294 47ca 8093 0000 sts DebugOut+44,r24
		8054	8295 47ce 2091 0000 lds r18,BaroExpandActive
		8055	8296 47d2 3091 0000 lds r19,(BaroExpandActive)+1
		8056	8297 47d6 2115 cp r18,__zero_reg__
		8057	8298 47d8 3105 cpc r19,__zero_reg__
		8058	8299 47da 01F0 breq .+2
		8059	8300 47dc 00C0 rjmp .L660
		8060	8301 47de 8091 0000 lds r24,MessLuftdruck
		8061	8302 47e2 9091 0000 lds r25,(MessLuftdruck)+1
		8062	8303 47e6 8959 subi r24,lo8(921)
		8063	8304 47e8 9340 sbci r25,hi8(921)
		8064	8305 47ea 00F0 brlo .L661
		8065	8306 47ec 87B5 in r24,71-0x20
		8066	8307 47ee 803F cpi r24,lo8(-16)
		8067	8308 47f0 00F4 brsh .L662
		8068	8309 47f2 8091 0000 lds r24,ExpandBaro
		8069	8310 47f6 8150 subi r24,lo8(-(-1))
		8070	8311 47f8 00C0 rjmp .L902
		8071	8312 .L662:
		8072	8313 47fa 81E0 ldi r24,lo8(1)
		8073	8314 47fc 8093 0000 sts BaroAtLowerLimit.26,r24
		8074	8315 4800 00C0 rjmp .L669
		8075	8316 .L661:
		8076	8317 4802 8091 0000 lds r24,MessLuftdruck
		8077	8318 4806 9091 0000 lds r25,(MessLuftdruck)+1
		8078	8319 480a 8436 cpi r24,100
		8079	8320 480c 9105 cpc r25,__zero_reg__
		8080	8321 480e 00F4 brsh .L665
		8081	8322 4810 87B5 in r24,71-0x20
		8082	8323 4812 8031 cpi r24,lo8(16)
		8083	8324 4814 00F0 brlo .L666
		8084	8325 4816 8091 0000 lds r24,ExpandBaro
		8085	8326 481a 8F5F subi r24,lo8(-(1))
		8086	8327 .L902:
		8087	8328 481c 8093 0000 sts ExpandBaro,r24
		8088	8329 4820 9FE0 ldi r25,lo8(15)
		8089	8330 4822 8902 muls r24,r25
		8090	8331 4824 9001 movw r18,r0
		8091	8332 4826 1124 clr r1
		8092	8333 4828 8091 0000 lds r24,DruckOffsetSetting
		8093	8334 482c 821B sub r24,r18
		8094	8335 482e 87BD out 71-0x20,r24
		8095	8336 4830 8CE2 ldi r24,lo8(300)
		8096	8337 4832 91E0 ldi r25,hi8(300)
		8097	8338 4834 9093 0000 sts (beeptime)+1,r25
		8098	8339 4838 8093 0000 sts beeptime,r24
		8099	8340 483c 8EE5 ldi r24,lo8(350)
		8100	8341 483e 91E0 ldi r25,hi8(350)
		8101	8342 4840 9093 0000 sts (BaroExpandActive)+1,r25
		8102	8343 4844 8093 0000 sts BaroExpandActive,r24
		8103	8344 4848 00C0 rjmp .L669
		8104	8345 .L666:
		8105	8346 484a 81E0 ldi r24,lo8(1)
		8106	8347 484c 8093 0000 sts BaroAtUpperLimit.25,r24
		8107	8348 4850 00C0 rjmp .L669
		8108	8349 .L665:
		8109	8350 4852 F092 0000 sts BaroAtUpperLimit.25,r15
		8110	8351 4856 F092 0000 sts BaroAtLowerLimit.26,r15
		8111	8352 485a 00C0 rjmp .L669
		8112	8353 .L660:
		8113	8354 485c 8091 0000 lds r24,HoehenWert
		8114	8355 4860 9091 0000 lds r25,(HoehenWert)+1
		8115	8356 4864 A091 0000 lds r26,(HoehenWert)+2
		8116	8357 4868 B091 0000 lds r27,(HoehenWert)+3
		8117	8358 486c 64E0 ldi r22,4
		8118	8359 486e 880F 1: lsl r24
		8119	8360 4870 991F rol r25
		8120	8361 4872 AA1F rol r26
		8121	8362 4874 BB1F rol r27
		8122	8363 4876 6A95 dec r22
		8123	8364 4878 01F4 brne 1b
		8124	8365 487a 8093 0000 sts SummenHoehe,r24
		8125	8366 487e 9093 0000 sts (SummenHoehe)+1,r25
		8126	8367 4882 A093 0000 sts (SummenHoehe)+2,r26
		8127	8368 4886 B093 0000 sts (SummenHoehe)+3,r27
		8128	8369 488a 1093 0000 sts (VarioMeter)+1,r17
		8129	8370 488e 0093 0000 sts VarioMeter,r16
		8130	8371 4892 2150 subi r18,lo8(-(-1))
		8131	8372 4894 3040 sbci r19,hi8(-(-1))
		8132	8373 4896 3093 0000 sts (BaroExpandActive)+1,r19
		8133	8374 489a 2093 0000 sts BaroExpandActive,r18
		8134	8375 .L669:
		8135	8376 489e 2091 0000 lds r18,Parameter_HoehenSchalter
		8136	8377 48a2 41FF sbrs r20,1
		8137	8378 48a4 00C0 rjmp .L670
		8138	8379 48a6 2233 cpi r18,lo8(50)
		8139	8380 48a8 00F4 brsh .L671
		8140	8381 48aa 8091 0000 lds r24,delay.24
		8141	8382 48ae 8150 subi r24,lo8(-(-1))
		8142	8383 48b0 8093 0000 sts delay.24,r24
		8143	8384 48b4 8F3F cpi r24,lo8(-1)
		8144	8385 48b6 01F0 breq .+2
		8145	8386 48b8 00C0 rjmp .L677
		8146	8387 48ba 8091 0000 lds r24,SpeakHoTT
		8147	8388 48be 8823 tst r24
		8148	8389 48c0 01F4 brne .L673
		8149	8390 48c2 8091 0000 lds r24,HoehenReglerAktiv
		8150	8391 48c6 8823 tst r24
		8151	8392 48c8 01F0 breq .L673
		8152	8393 48ca 88E2 ldi r24,lo8(40)
		8153	8394 48cc 8093 0000 sts SpeakHoTT,r24
		8154	8395 .L673:
		8155	8396 48d0 1092 0000 sts HoehenReglerAktiv,__zero_reg__
		8156	8397 48d4 8091 0000 lds r24,HoehenWert
		8157	8398 48d8 9091 0000 lds r25,(HoehenWert)+1
		8158	8399 48dc A091 0000 lds r26,(HoehenWert)+2
		8159	8400 48e0 B091 0000 lds r27,(HoehenWert)+3
		8160	8401 48e4 8093 0000 sts SollHoehe,r24
		8161	8402 48e8 9093 0000 sts (SollHoehe)+1,r25
		8162	8403 48ec A093 0000 sts (SollHoehe)+2,r26
		8163	8404 48f0 B093 0000 sts (SollHoehe)+3,r27
		8164	8405 48f4 81E0 ldi r24,lo8(1)
		8165	8406 48f6 8093 0000 sts delay.24,r24
		8166	8407 48fa 00C0 rjmp .L677
		8167	8408 .L671:
		8168	8409 48fc 2734 cpi r18,lo8(71)
		8169	8410 48fe 00F0 brlo .L677
		8170	8411 4900 8091 0000 lds r24,SpeakHoTT
		8171	8412 4904 8823 tst r24
		8172	8413 4906 01F4 brne .L676
		8173	8414 4908 8091 0000 lds r24,HoehenReglerAktiv
		8174	8415 490c 8823 tst r24
		8175	8416 490e 01F4 brne .L676
		8176	8417 4910 87E2 ldi r24,lo8(39)
		8177	8418 4912 8093 0000 sts SpeakHoTT,r24
		8178	8419 .L676:
		8179	8420 4916 88EC ldi r24,lo8(-56)
		8180	8421 4918 8093 0000 sts delay.24,r24
		8181	8422 491c 00C0 rjmp .L903
		8182	8423 .L670:
		8183	8424 491e 8091 0000 lds r24,ExternHoehenValue
		8184	8425 4922 9091 0000 lds r25,(ExternHoehenValue)+1
		8185	8426 4926 820F add r24,r18
		8186	8427 4928 911D adc r25,__zero_reg__
		8187	8428 492a 2091 0000 lds r18,EE_Parameter+18
		8188	8429 492e 3327 clr r19
		8189	8430 4930 829F mul r24,r18
		8190	8431 4932 A001 movw r20,r0
		8191	8432 4934 839F mul r24,r19
		8192	8433 4936 500D add r21,r0
		8193	8434 4938 929F mul r25,r18
		8194	8435 493a 500D add r21,r0
		8195	8436 493c 1124 clr r1
		8196	8437 493e CA01 movw r24,r20
		8197	8438 4940 AA27 clr r26
		8198	8439 4942 97FD sbrc r25,7
		8199	8440 4944 A095 com r26
		8200	8441 4946 BA2F mov r27,r26
		8201	8442 4948 8093 0000 sts SollHoehe,r24
		8202	8443 494c 9093 0000 sts (SollHoehe)+1,r25
		8203	8444 4950 A093 0000 sts (SollHoehe)+2,r26
		8204	8445 4954 B093 0000 sts (SollHoehe)+3,r27
		8205	8446 .L903:
		8206	8447 4958 81E0 ldi r24,lo8(1)
		8207	8448 495a 8093 0000 sts HoehenReglerAktiv,r24
		8208	8449 .L677:
		8209	8450 495e 8091 0000 lds r24,IntegralNick
		8210	8451 4962 9091 0000 lds r25,(IntegralNick)+1
		8211	8452 4966 A091 0000 lds r26,(IntegralNick)+2
		8212	8453 496a B091 0000 lds r27,(IntegralNick)+3
		8213	8454 496e E090 0000 lds r14,GIER_GRAD_FAKTOR
		8214	8455 4972 F090 0000 lds r15,(GIER_GRAD_FAKTOR)+1
		8215	8456 4976 0091 0000 lds r16,(GIER_GRAD_FAKTOR)+2
		8216	8457 497a 1091 0000 lds r17,(GIER_GRAD_FAKTOR)+3
		8217	8458 497e BC01 movw r22,r24
		8218	8459 4980 CD01 movw r24,r26
		8219	8460 4982 A801 movw r20,r16
		8220	8461 4984 9701 movw r18,r14
		8221	8462 4986 0E94 0000 call __divmodsi4
		8222	8463 498a 5901 movw r10,r18
		8223	8464 498c 6A01 movw r12,r20
		8224	8465 498e 8091 0000 lds r24,IntegralRoll
		8225	8466 4992 9091 0000 lds r25,(IntegralRoll)+1
		8226	8467 4996 A091 0000 lds r26,(IntegralRoll)+2
		8227	8468 499a B091 0000 lds r27,(IntegralRoll)+3
		8228	8469 499e BC01 movw r22,r24
		8229	8470 49a0 CD01 movw r24,r26
		8230	8471 49a2 A801 movw r20,r16
		8231	8472 49a4 9701 movw r18,r14
		8232	8473 49a6 0E94 0000 call __divmodsi4
		8233	8474 49aa B901 movw r22,r18
		8234	8475 49ac C501 movw r24,r10
		8235	8476 49ae 0E94 0000 call ihypot
		8236	8477 49b2 5C01 movw r10,r24
		8237	8478 49b4 CC97 sbiw r24,60
		8238	8479 49b6 04F0 brlt .L678
		8239	8480 49b8 5CE3 ldi r21,lo8(60)
		8240	8481 49ba A52E mov r10,r21
		8241	8482 49bc B12C mov r11,__zero_reg__
		8242	8483 .L678:
		8243	8484 49be C501 movw r24,r10
		8244	8485 49c0 0E94 0000 call c_cos_8192
		8245	8486 49c4 5C01 movw r10,r24
		8246	8487 49c6 80E2 ldi r24,lo8(32)
		8247	8488 49c8 8093 0000 sts VarioCharacter,r24
		8248	8489 49cc 1092 0000 sts (AltitudeSetpointTrimming)+1,__zero_reg__
		8249	8490 49d0 1092 0000 sts AltitudeSetpointTrimming,__zero_reg__
		8250	8491 49d4 8091 0000 lds r24,HoehenReglerAktiv
		8251	8492 49d8 8823 tst r24
		8252	8493 49da 01F4 brne .+2
		8253	8494 49dc 00C0 rjmp .L679
		8254	8495 49de 8091 0000 lds r24,FC_StatusFlags
		8255	8496 49e2 9927 clr r25
		8256	8497 49e4 9C01 movw r18,r24
		8257	8498 49e6 2071 andi r18,lo8(16)
		8258	8499 49e8 3070 andi r19,hi8(16)
		8259	8500 49ea 84FD sbrc r24,4
		8260	8501 49ec 00C0 rjmp .L679
		8261	8502 49ee 8091 0000 lds r24,FC_StatusFlags2
		8262	8503 49f2 8260 ori r24,lo8(2)
		8263	8504 49f4 8093 0000 sts FC_StatusFlags2,r24
		8264	8505 49f8 7091 0000 lds r23,Parameter_ExtraConfig
		8265	8506 49fc 872F mov r24,r23
		8266	8507 49fe 9927 clr r25
		8267	8508 4a00 41E0 ldi r20,lo8(1)
		8268	8509 4a02 C42E mov r12,r20
		8269	8510 4a04 D12C mov r13,__zero_reg__
		8270	8511 4a06 C822 and r12,r24
		8271	8512 4a08 D922 and r13,r25
		8272	8513 4a0a 80FD sbrc r24,0
		8273	8514 4a0c 00C0 rjmp .L681
		8274	8515 4a0e 8091 0000 lds r24,Parameter_GlobalConfig
		8275	8516 4a12 81FD sbrc r24,1
		8276	8517 4a14 00C0 rjmp .L680
		8277	8518 .L681:
		8278	8519 4a16 C980 ldd r12,Y+1
		8279	8520 4a18 DA80 ldd r13,Y+2
		8280	8521 4a1a 3093 0000 sts (HeightTrimming.21)+1,r19
		8281	8522 4a1e 2093 0000 sts HeightTrimming.21,r18
		8282	8523 4a22 3093 0000 sts (AltitudeSetpointTrimming)+1,r19
		8283	8524 4a26 2093 0000 sts AltitudeSetpointTrimming,r18
		8284	8525 4a2a 8091 0000 lds r24,FC_StatusFlags
		8285	8526 4a2e 806C ori r24,lo8(-64)
		8286	8527 4a30 8093 0000 sts FC_StatusFlags,r24
		8287	8528 4a34 00C0 rjmp .L682
		8288	8529 .L680:
		8289	8530 4a36 8091 0000 lds r24,FC_StatusFlags
		8290	8531 4a3a 81FF sbrs r24,1
		8291	8532 4a3c 00C0 rjmp .L683
		8292	8533 4a3e 0091 0000 lds r16,StickGasHover
		8293	8534 4a42 1091 0000 lds r17,(StickGasHover)+1
		8294	8535 4a46 C801 movw r24,r16
		8295	8536 4a48 0F96 adiw r24,15
		8296	8537 4a4a 2090 0000 lds r2,StickGas
		8297	8538 4a4e 3090 0000 lds r3,(StickGas)+1
		8298	8539 4a52 8215 cp r24,r2
		8299	8540 4a54 9305 cpc r25,r3
		8300	8541 4a56 04F0 brlt .+2
		8301	8542 4a58 00C0 rjmp .L684
		8302	8543 4a5a 8091 0000 lds r24,BaroAtUpperLimit.25
		8303	8544 4a5e 8823 tst r24
		8304	8545 4a60 01F0 breq .+2
		8305	8546 4a62 00C0 rjmp .L684
		8306	8547 4a64 8091 0000 lds r24,FC_StatusFlags
		8307	8548 4a68 87FF sbrs r24,7
		8308	8549 4a6a 00C0 rjmp .L685
		8309	8550 4a6c 8091 0000 lds r24,FC_StatusFlags
		8310	8551 4a70 8F77 andi r24,lo8(127)
		8311	8552 4a72 8093 0000 sts FC_StatusFlags,r24
		8312	8553 4a76 8091 0000 lds r24,HoehenWert
		8313	8554 4a7a 9091 0000 lds r25,(HoehenWert)+1
		8314	8555 4a7e A091 0000 lds r26,(HoehenWert)+2
		8315	8556 4a82 B091 0000 lds r27,(HoehenWert)+3
		8316	8557 4a86 8093 0000 sts SollHoehe,r24
		8317	8558 4a8a 9093 0000 sts (SollHoehe)+1,r25
		8318	8559 4a8e A093 0000 sts (SollHoehe)+2,r26
		8319	8560 4a92 B093 0000 sts (SollHoehe)+3,r27
		8320	8561 .L685:
		8321	8562 4a96 8091 0000 lds r24,FC_StatusFlags
		8322	8563 4a9a 8064 ori r24,lo8(64)
		8323	8564 4a9c 8093 0000 sts FC_StatusFlags,r24
		8324	8565 4aa0 E090 0000 lds r14,Parameter_MaximumAltitude
		8325	8566 4aa4 EE20 tst r14
		8326	8567 4aa6 01F0 breq .L686
		8327	8568 4aa8 8091 0000 lds r24,SollHoehe
		8328	8569 4aac 9091 0000 lds r25,(SollHoehe)+1
		8329	8570 4ab0 A091 0000 lds r26,(SollHoehe)+2
		8330	8571 4ab4 B091 0000 lds r27,(SollHoehe)+3
		8331	8572 4ab8 BC01 movw r22,r24
		8332	8573 4aba CD01 movw r24,r26
		8333	8574 4abc 24E6 ldi r18,lo8(100)
		8334	8575 4abe 30E0 ldi r19,hi8(100)
		8335	8576 4ac0 40E0 ldi r20,hlo8(100)
		8336	8577 4ac2 50E0 ldi r21,hhi8(100)
		8337	8578 4ac4 0E94 0000 call __divmodsi4
		8338	8579 4ac8 8E2D mov r24,r14
		8339	8580 4aca 9927 clr r25
		8340	8581 4acc AA27 clr r26
		8341	8582 4ace BB27 clr r27
		8342	8583 4ad0 8217 cp r24,r18
		8343	8584 4ad2 9307 cpc r25,r19
		8344	8585 4ad4 A407 cpc r26,r20
		8345	8586 4ad6 B507 cpc r27,r21
		8346	8587 4ad8 04F4 brge .L686
		8347	8588 4ada D092 0000 sts (AltitudeSetpointTrimming)+1,r13
		8348	8589 4ade C092 0000 sts AltitudeSetpointTrimming,r12
		8349	8590 4ae2 00C0 rjmp .L687
		8350	8591 .L686:
		8351	8592 4ae4 C101 movw r24,r2
		8352	8593 4ae6 801B sub r24,r16
		8353	8594 4ae8 910B sbc r25,r17
		8354	8595 4aea 0F97 sbiw r24,15
		8355	8596 4aec 97FF sbrs r25,7
		8356	8597 4aee 00C0 rjmp .L688
		8357	8598 4af0 9095 com r25
		8358	8599 4af2 8195 neg r24
		8359	8600 4af4 9F4F sbci r25,lo8(-1)
		8360	8601 .L688:
		8361	8602 4af6 9093 0000 sts (AltitudeSetpointTrimming)+1,r25
		8362	8603 4afa 8093 0000 sts AltitudeSetpointTrimming,r24
		8363	8604 4afe 8BE2 ldi r24,lo8(43)
		8364	8605 4b00 8093 0000 sts VarioCharacter,r24
		8365	8606 .L687:
		8366	8607 4b04 1092 0000 sts WaypointTrimming,__zero_reg__
		8367	8608 4b08 00C0 rjmp .L689
		8368	8609 .L684:
		8369	8610 4b0a C801 movw r24,r16
		8370	8611 4b0c 0F97 sbiw r24,15
		8371	8612 4b0e 2816 cp r2,r24
		8372	8613 4b10 3906 cpc r3,r25
		8373	8614 4b12 04F4 brge .L690
		8374	8615 4b14 2091 0000 lds r18,BaroAtLowerLimit.26
		8375	8616 4b18 2223 tst r18
		8376	8617 4b1a 01F4 brne .L690
		8377	8618 4b1c 8091 0000 lds r24,FC_StatusFlags
		8378	8619 4b20 86FF sbrs r24,6
		8379	8620 4b22 00C0 rjmp .L691
		8380	8621 4b24 8091 0000 lds r24,FC_StatusFlags
		8381	8622 4b28 8F7B andi r24,lo8(-65)
		8382	8623 4b2a 8093 0000 sts FC_StatusFlags,r24
		8383	8624 4b2e 8091 0000 lds r24,HoehenWert
		8384	8625 4b32 9091 0000 lds r25,(HoehenWert)+1
		8385	8626 4b36 A091 0000 lds r26,(HoehenWert)+2
		8386	8627 4b3a B091 0000 lds r27,(HoehenWert)+3
		8387	8628 4b3e 8093 0000 sts SollHoehe,r24
		8388	8629 4b42 9093 0000 sts (SollHoehe)+1,r25
		8389	8630 4b46 A093 0000 sts (SollHoehe)+2,r26
		8390	8631 4b4a B093 0000 sts (SollHoehe)+3,r27
		8391	8632 .L691:
		8392	8633 4b4e 8091 0000 lds r24,FC_StatusFlags
		8393	8634 4b52 8068 ori r24,lo8(-128)
		8394	8635 4b54 8093 0000 sts FC_StatusFlags,r24
		8395	8636 4b58 C101 movw r24,r2
		8396	8637 4b5a 801B sub r24,r16
		8397	8638 4b5c 910B sbc r25,r17
		8398	8639 4b5e 0F96 adiw r24,15
		8399	8640 4b60 97FF sbrs r25,7
		8400	8641 4b62 00C0 rjmp .L692
		8401	8642 4b64 9095 com r25
		8402	8643 4b66 8195 neg r24
		8403	8644 4b68 9F4F sbci r25,lo8(-1)
		8404	8645 .L692:
		8405	8646 4b6a 9095 com r25
		8406	8647 4b6c 8195 neg r24
		8407	8648 4b6e 9F4F sbci r25,lo8(-1)
		8408	8649 4b70 9093 0000 sts (AltitudeSetpointTrimming)+1,r25
		8409	8650 4b74 8093 0000 sts AltitudeSetpointTrimming,r24
		8410	8651 4b78 8DE2 ldi r24,lo8(45)
		8411	8652 4b7a 8093 0000 sts VarioCharacter,r24
		8412	8653 4b7e 2093 0000 sts WaypointTrimming,r18
		8413	8654 4b82 00C0 rjmp .L689
		8414	8655 .L690:
		8415	8656 4b84 8DE3 ldi r24,lo8(61)
		8416	8657 4b86 8093 0000 sts VarioCharacter,r24
		8417	8658 4b8a 6091 0000 lds r22,FromNC_AltitudeSpeed
		8418	8659 4b8e 6623 tst r22
		8419	8660 4b90 01F0 breq .L694
		8420	8661 4b92 2091 0000 lds r18,FromNC_AltitudeSetpoint
		8421	8662 4b96 3091 0000 lds r19,(FromNC_AltitudeSetpoint)+1
		8422	8663 4b9a 4091 0000 lds r20,(FromNC_AltitudeSetpoint)+2
		8423	8664 4b9e 5091 0000 lds r21,(FromNC_AltitudeSetpoint)+3
		8424	8665 4ba2 8091 0000 lds r24,SollHoehe
		8425	8666 4ba6 9091 0000 lds r25,(SollHoehe)+1
		8426	8667 4baa A091 0000 lds r26,(SollHoehe)+2
		8427	8668 4bae B091 0000 lds r27,(SollHoehe)+3
		8428	8669 4bb2 8217 cp r24,r18
		8429	8670 4bb4 9307 cpc r25,r19
		8430	8671 4bb6 A407 cpc r26,r20
		8431	8672 4bb8 B507 cpc r27,r21
		8432	8673 4bba 04F4 brge .L694
		8433	8674 4bbc 8091 0000 lds r24,FC_StatusFlags
		8434	8675 4bc0 8064 ori r24,lo8(64)
		8435	8676 4bc2 8093 0000 sts FC_StatusFlags,r24
		8436	8677 4bc6 862F mov r24,r22
		8437	8678 4bc8 9927 clr r25
		8438	8679 4bca 9093 0000 sts (AltitudeSetpointTrimming)+1,r25
		8439	8680 4bce 8093 0000 sts AltitudeSetpointTrimming,r24
		8440	8681 4bd2 8AE0 ldi r24,lo8(10)
		8441	8682 4bd4 8093 0000 sts WaypointTrimming,r24
		8442	8683 4bd8 8EE5 ldi r24,lo8(94)
		8443	8684 4bda 8093 0000 sts VarioCharacter,r24
		8444	8685 4bde 8091 0000 lds r24,FC_StatusFlags
		8445	8686 4be2 87FF sbrs r24,7
		8446	8687 4be4 00C0 rjmp .L689
		8447	8688 4be6 8091 0000 lds r24,FC_StatusFlags
		8448	8689 4bea 8F77 andi r24,lo8(127)
		8449	8690 4bec 00C0 rjmp .L905
		8450	8691 .L694:
		8451	8692 4bee 6623 tst r22
		8452	8693 4bf0 01F4 brne .+2
		8453	8694 4bf2 00C0 rjmp .L697
		8454	8695 4bf4 2091 0000 lds r18,FromNC_AltitudeSetpoint
		8455	8696 4bf8 3091 0000 lds r19,(FromNC_AltitudeSetpoint)+1
		8456	8697 4bfc 4091 0000 lds r20,(FromNC_AltitudeSetpoint)+2
		8457	8698 4c00 5091 0000 lds r21,(FromNC_AltitudeSetpoint)+3
		8458	8699 4c04 8091 0000 lds r24,SollHoehe
		8459	8700 4c08 9091 0000 lds r25,(SollHoehe)+1
		8460	8701 4c0c A091 0000 lds r26,(SollHoehe)+2
		8461	8702 4c10 B091 0000 lds r27,(SollHoehe)+3
		8462	8703 4c14 2817 cp r18,r24
		8463	8704 4c16 3907 cpc r19,r25
		8464	8705 4c18 4A07 cpc r20,r26
		8465	8706 4c1a 5B07 cpc r21,r27
		8466	8707 4c1c 04F4 brge .L697
		8467	8708 4c1e 8091 0000 lds r24,FC_StatusFlags
		8468	8709 4c22 8068 ori r24,lo8(-128)
		8469	8710 4c24 8093 0000 sts FC_StatusFlags,r24
		8470	8711 4c28 862F mov r24,r22
		8471	8712 4c2a 9927 clr r25
		8472	8713 4c2c 9095 com r25
		8473	8714 4c2e 8195 neg r24
		8474	8715 4c30 9F4F sbci r25,lo8(-1)
		8475	8716 4c32 9093 0000 sts (AltitudeSetpointTrimming)+1,r25
		8476	8717 4c36 8093 0000 sts AltitudeSetpointTrimming,r24
		8477	8718 4c3a 86EF ldi r24,lo8(-10)
		8478	8719 4c3c 8093 0000 sts WaypointTrimming,r24
		8479	8720 4c40 86E7 ldi r24,lo8(118)
		8480	8721 4c42 8093 0000 sts VarioCharacter,r24
		8481	8722 4c46 8091 0000 lds r24,FC_StatusFlags
		8482	8723 4c4a 86FF sbrs r24,6
		8483	8724 4c4c 00C0 rjmp .L689
		8484	8725 4c4e 8091 0000 lds r24,FC_StatusFlags
		8485	8726 4c52 8F7B andi r24,lo8(-65)
		8486	8727 .L905:
		8487	8728 4c54 8093 0000 sts FC_StatusFlags,r24
		8488	8729 4c58 8091 0000 lds r24,HoehenWert
		8489	8730 4c5c 9091 0000 lds r25,(HoehenWert)+1
		8490	8731 4c60 A091 0000 lds r26,(HoehenWert)+2
		8491	8732 4c64 B091 0000 lds r27,(HoehenWert)+3
		8492	8733 4c68 8093 0000 sts SollHoehe,r24
		8493	8734 4c6c 9093 0000 sts (SollHoehe)+1,r25
		8494	8735 4c70 A093 0000 sts (SollHoehe)+2,r26
		8495	8736 4c74 B093 0000 sts (SollHoehe)+3,r27
		8496	8737 4c78 00C0 rjmp .L689
		8497	8738 .L697:
		8498	8739 4c7a 8091 0000 lds r24,FC_StatusFlags
		8499	8740 4c7e 807C andi r24,lo8(-64)
		8500	8741 4c80 01F4 brne .+2
		8501	8742 4c82 00C0 rjmp .L689
		8502	8743 4c84 8091 0000 lds r24,WaypointTrimming
		8503	8744 4c88 8823 tst r24
		8504	8745 4c8a 01F4 brne .L701
		8505	8746 4c8c E090 0000 lds r14,HoehenWert
		8506	8747 4c90 F090 0000 lds r15,(HoehenWert)+1
		8507	8748 4c94 0091 0000 lds r16,(HoehenWert)+2
		8508	8749 4c98 1091 0000 lds r17,(HoehenWert)+3
		8509	8750 4c9c D801 movw r26,r16
		8510	8751 4c9e C701 movw r24,r14
		8511	8752 4ca0 8058 subi r24,lo8(-(-128))
		8512	8753 4ca2 9040 sbci r25,hi8(-(-128))
		8513	8754 4ca4 A040 sbci r26,hlo8(-(-128))
		8514	8755 4ca6 B040 sbci r27,hhi8(-(-128))
		8515	8756 4ca8 2091 0000 lds r18,SollHoehe
		8516	8757 4cac 3091 0000 lds r19,(SollHoehe)+1
		8517	8758 4cb0 4091 0000 lds r20,(SollHoehe)+2
		8518	8759 4cb4 5091 0000 lds r21,(SollHoehe)+3
		8519	8760 4cb8 8217 cp r24,r18
		8520	8761 4cba 9307 cpc r25,r19
		8521	8762 4cbc A407 cpc r26,r20
		8522	8763 4cbe B507 cpc r27,r21
		8523	8764 4cc0 04F4 brge .L904
		8524	8765 4cc2 D801 movw r26,r16
		8525	8766 4cc4 C701 movw r24,r14
		8526	8767 4cc6 8058 subi r24,lo8(-(128))
		8527	8768 4cc8 9F4F sbci r25,hi8(-(128))
		8528	8769 4cca AF4F sbci r26,hlo8(-(128))
		8529	8770 4ccc BF4F sbci r27,hhi8(-(128))
		8530	8771 4cce 2817 cp r18,r24
		8531	8772 4cd0 3907 cpc r19,r25
		8532	8773 4cd2 4A07 cpc r20,r26
		8533	8774 4cd4 5B07 cpc r21,r27
		8534	8775 4cd6 04F0 brlt .L705
		8535	8776 .L904:
		8536	8777 4cd8 8093 0000 sts SollHoehe,r24
		8537	8778 4cdc 9093 0000 sts (SollHoehe)+1,r25
		8538	8779 4ce0 A093 0000 sts (SollHoehe)+2,r26
		8539	8780 4ce4 B093 0000 sts (SollHoehe)+3,r27
		8540	8781 4ce8 00C0 rjmp .L705
		8541	8782 .L701:
		8542	8783 4cea 1092 0000 sts WaypointTrimming,__zero_reg__
		8543	8784 .L705:
		8544	8785 4cee 8091 0000 lds r24,FC_StatusFlags
		8545	8786 4cf2 8F73 andi r24,lo8(63)
		8546	8787 4cf4 8093 0000 sts FC_StatusFlags,r24
		8547	8788 4cf8 1092 0000 sts (HeightTrimming.21)+1,__zero_reg__
		8548	8789 4cfc 1092 0000 sts HeightTrimming.21,__zero_reg__
		8549	8790 4d00 71FF sbrs r23,1
		8550	8791 4d02 00C0 rjmp .L706
		8551	8792 4d04 84EF ldi r24,lo8(500)
		8552	8793 4d06 91E0 ldi r25,hi8(500)
		8553	8794 4d08 9093 0000 sts (beeptime)+1,r25
		8554	8795 4d0c 8093 0000 sts beeptime,r24
		8555	8796 .L706:
		8556	8797 4d10 8091 0000 lds r24,StartTrigger
		8557	8798 4d14 8823 tst r24
		8558	8799 4d16 01F4 brne .L689
		8559	8800 4d18 8091 0000 lds r24,HoehenWert
		8560	8801 4d1c 9091 0000 lds r25,(HoehenWert)+1
		8561	8802 4d20 A091 0000 lds r26,(HoehenWert)+2
		8562	8803 4d24 B091 0000 lds r27,(HoehenWert)+3
		8563	8804 4d28 C397 sbiw r24,51
		8564	8805 4d2a A105 cpc r26,__zero_reg__
		8565	8806 4d2c B105 cpc r27,__zero_reg__
		8566	8807 4d2e 04F0 brlt .L689
		8567	8808 4d30 81E0 ldi r24,lo8(1)
		8568	8809 4d32 8093 0000 sts StartTrigger,r24
		8569	8810 .L689:
		8570	8811 4d36 6091 0000 lds r22,HeightTrimming.21
		8571	8812 4d3a 7091 0000 lds r23,(HeightTrimming.21)+1
		8572	8813 4d3e 8091 0000 lds r24,AltitudeSetpointTrimming
		8573	8814 4d42 9091 0000 lds r25,(AltitudeSetpointTrimming)+1
		8574	8815 4d46 680F add r22,r24
		8575	8816 4d48 791F adc r23,r25
		8576	8817 4d4a 7093 0000 sts (HeightTrimming.21)+1,r23
		8577	8818 4d4e 6093 0000 sts HeightTrimming.21,r22
		8578	8819 4d52 CB01 movw r24,r22
		8579	8820 4d54 77FF sbrs r23,7
		8580	8821 4d56 00C0 rjmp .L709
		8581	8822 4d58 8827 clr r24
		8582	8823 4d5a 9927 clr r25
		8583	8824 4d5c 861B sub r24,r22
		8584	8825 4d5e 970B sbc r25,r23
		8585	8826 .L709:
		8586	8827 4d60 855F subi r24,lo8(501)
		8587	8828 4d62 9140 sbci r25,hi8(501)
		8588	8829 4d64 04F4 brge .+2
		8589	8830 4d66 00C0 rjmp .L708
		8590	8831 4d68 4091 0000 lds r20,WaypointTrimming
		8591	8832 4d6c 4423 tst r20
		8592	8833 4d6e 01F0 breq .L710
		8593	8834 4d70 8091 0000 lds r24,FromNC_AltitudeSetpoint
		8594	8835 4d74 9091 0000 lds r25,(FromNC_AltitudeSetpoint)+1
		8595	8836 4d78 2091 0000 lds r18,SollHoehe
		8596	8837 4d7c 3091 0000 lds r19,(SollHoehe)+1
		8597	8838 4d80 821B sub r24,r18
		8598	8839 4d82 930B sbc r25,r19
		8599	8840 4d84 0996 adiw r24,9
		8600	8841 4d86 4397 sbiw r24,19
		8601	8842 4d88 00F4 brsh .L711
		8602	8843 4d8a 8091 0000 lds r24,FromNC_AltitudeSetpoint
		8603	8844 4d8e 9091 0000 lds r25,(FromNC_AltitudeSetpoint)+1
		8604	8845 4d92 A091 0000 lds r26,(FromNC_AltitudeSetpoint)+2
		8605	8846 4d96 B091 0000 lds r27,(FromNC_AltitudeSetpoint)+3
		8606	8847 4d9a 00C0 rjmp .L907
		8607	8848 .L711:
		8608	8849 4d9c 242F mov r18,r20
		8609	8850 4d9e 3327 clr r19
		8610	8851 4da0 27FD sbrc r18,7
		8611	8852 4da2 3095 com r19
		8612	8853 4da4 432F mov r20,r19
		8613	8854 4da6 532F mov r21,r19
		8614	8855 4da8 8091 0000 lds r24,SollHoehe
		8615	8856 4dac 9091 0000 lds r25,(SollHoehe)+1
		8616	8857 4db0 A091 0000 lds r26,(SollHoehe)+2
		8617	8858 4db4 B091 0000 lds r27,(SollHoehe)+3
		8618	8859 4db8 820F add r24,r18
		8619	8860 4dba 931F adc r25,r19
		8620	8861 4dbc A41F adc r26,r20
		8621	8862 4dbe B51F adc r27,r21
		8622	8863 .L907:
		8623	8864 4dc0 8093 0000 sts SollHoehe,r24
		8624	8865 4dc4 9093 0000 sts (SollHoehe)+1,r25
		8625	8866 4dc8 A093 0000 sts (SollHoehe)+2,r26
		8626	8867 4dcc B093 0000 sts (SollHoehe)+3,r27
		8627	8868 4dd0 00C0 rjmp .L713
		8628	8869 .L710:
		8629	8870 4dd2 8091 0000 lds r24,EE_Parameter+18
		8630	8871 4dd6 2091 0000 lds r18,SollHoehe
		8631	8872 4dda 3091 0000 lds r19,(SollHoehe)+1
		8632	8873 4dde 4091 0000 lds r20,(SollHoehe)+2
		8633	8874 4de2 5091 0000 lds r21,(SollHoehe)+3
		8634	8875 4de6 1616 cp __zero_reg__,r22
		8635	8876 4de8 1706 cpc __zero_reg__,r23
		8636	8877 4dea 04F4 brge .L714
		8637	8878 4dec 63E0 ldi r22,lo8(3)
		8638	8879 4dee 0E94 0000 call __udivmodqi4
		8639	8880 4df2 280F add r18,r24
		8640	8881 4df4 311D adc r19,__zero_reg__
		8641	8882 4df6 411D adc r20,__zero_reg__
		8642	8883 4df8 511D adc r21,__zero_reg__
		8643	8884 4dfa 00C0 rjmp .L906
		8644	8885 .L714:
		8645	8886 4dfc 63E0 ldi r22,lo8(3)
		8646	8887 4dfe 0E94 0000 call __udivmodqi4
		8647	8888 4e02 281B sub r18,r24
		8648	8889 4e04 3109 sbc r19,__zero_reg__
		8649	8890 4e06 4109 sbc r20,__zero_reg__
		8650	8891 4e08 5109 sbc r21,__zero_reg__
		8651	8892 .L906:
		8652	8893 4e0a 2093 0000 sts SollHoehe,r18
		8653	8894 4e0e 3093 0000 sts (SollHoehe)+1,r19
		8654	8895 4e12 4093 0000 sts (SollHoehe)+2,r20
		8655	8896 4e16 5093 0000 sts (SollHoehe)+3,r21
		8656	8897 .L713:
		8657	8898 4e1a 1092 0000 sts (HeightTrimming.21)+1,__zero_reg__
		8658	8899 4e1e 1092 0000 sts HeightTrimming.21,__zero_reg__
		8659	8900 4e22 E090 0000 lds r14,HoehenWert
		8660	8901 4e26 F090 0000 lds r15,(HoehenWert)+1
		8661	8902 4e2a 0091 0000 lds r16,(HoehenWert)+2
		8662	8903 4e2e 1091 0000 lds r17,(HoehenWert)+3
		8663	8904 4e32 D801 movw r26,r16
		8664	8905 4e34 C701 movw r24,r14
		8665	8906 4e36 8050 subi r24,lo8(-(-1024))
		8666	8907 4e38 9440 sbci r25,hi8(-(-1024))
		8667	8908 4e3a A040 sbci r26,hlo8(-(-1024))
		8668	8909 4e3c B040 sbci r27,hhi8(-(-1024))
		8669	8910 4e3e 2091 0000 lds r18,SollHoehe
		8670	8911 4e42 3091 0000 lds r19,(SollHoehe)+1
		8671	8912 4e46 4091 0000 lds r20,(SollHoehe)+2
		8672	8913 4e4a 5091 0000 lds r21,(SollHoehe)+3
		8673	8914 4e4e 8217 cp r24,r18
		8674	8915 4e50 9307 cpc r25,r19
		8675	8916 4e52 A407 cpc r26,r20
		8676	8917 4e54 B507 cpc r27,r21
		8677	8918 4e56 04F4 brge .L908
		8678	8919 4e58 D801 movw r26,r16
		8679	8920 4e5a C701 movw r24,r14
		8680	8921 4e5c 8050 subi r24,lo8(-(1024))
		8681	8922 4e5e 9C4F sbci r25,hi8(-(1024))
		8682	8923 4e60 AF4F sbci r26,hlo8(-(1024))
		8683	8924 4e62 BF4F sbci r27,hhi8(-(1024))
		8684	8925 4e64 2817 cp r18,r24
		8685	8926 4e66 3907 cpc r19,r25
		8686	8927 4e68 4A07 cpc r20,r26
		8687	8928 4e6a 5B07 cpc r21,r27
		8688	8929 4e6c 04F0 brlt .L717
		8689	8930 .L908:
		8690	8931 4e6e 8093 0000 sts SollHoehe,r24
		8691	8932 4e72 9093 0000 sts (SollHoehe)+1,r25
		8692	8933 4e76 A093 0000 sts (SollHoehe)+2,r26
		8693	8934 4e7a B093 0000 sts (SollHoehe)+3,r27
		8694	8935 .L717:
		8695	8936 4e7e 8091 0000 lds r24,Parameter_ExtraConfig
		8696	8937 4e82 81FF sbrs r24,1
		8697	8938 4e84 00C0 rjmp .L719
		8698	8939 4e86 84E6 ldi r24,lo8(100)
		8699	8940 4e88 90E0 ldi r25,hi8(100)
		8700	8941 4e8a 9093 0000 sts (beeptime)+1,r25
		8701	8942 4e8e 8093 0000 sts beeptime,r24
		8702	8943 .L719:
		8703	8944 4e92 8091 0000 lds r24,EE_Parameter+22
		8704	8945 4e96 8823 tst r24
		8705	8946 4e98 01F4 brne .L708
		8706	8947 4e9a 8091 0000 lds r24,FromNC_AltitudeSpeed
		8707	8948 4e9e 8823 tst r24
		8708	8949 4ea0 01F4 brne .L708
		8709	8950 4ea2 4091 0000 lds r20,HoverGas
		8710	8951 4ea6 5091 0000 lds r21,(HoverGas)+1
		8711	8952 4eaa 57FF sbrs r21,7
		8712	8953 4eac 00C0 rjmp .L721
		8713	8954 4eae 4D5F subi r20,lo8(-(3))
		8714	8955 4eb0 5F4F sbci r21,hi8(-(3))
		8715	8956 .L721:
		8716	8957 4eb2 5595 asr r21
		8717	8958 4eb4 4795 ror r20
		8718	8959 4eb6 5595 asr r21
		8719	8960 4eb8 4795 ror r20
		8720	8961 4eba 8091 0000 lds r24,UBat
		8721	8962 4ebe 9091 0000 lds r25,(UBat)+1
		8722	8963 4ec2 2091 0000 lds r18,BattLowVoltageWarning
		8723	8964 4ec6 3327 clr r19
		8724	8965 4ec8 489F mul r20,r24
		8725	8966 4eca F001 movw r30,r0
		8726	8967 4ecc 499F mul r20,r25
		8727	8968 4ece F00D add r31,r0
		8728	8969 4ed0 589F mul r21,r24
		8729	8970 4ed2 F00D add r31,r0
		8730	8971 4ed4 1124 clr r1
		8731	8972 4ed6 CF01 movw r24,r30
		8732	8973 4ed8 B901 movw r22,r18
		8733	8974 4eda 0E94 0000 call __divmodhi4
		8734	8975 4ede 7093 0000 sts (StickGasHover)+1,r23
		8735	8976 4ee2 6093 0000 sts StickGasHover,r22
		8736	8977 4ee6 6634 cpi r22,70
		8737	8978 4ee8 7105 cpc r23,__zero_reg__
		8738	8979 4eea 04F4 brge .L722
		8739	8980 4eec 86E4 ldi r24,lo8(70)
		8740	8981 4eee 90E0 ldi r25,hi8(70)
		8741	8982 4ef0 00C0 rjmp .L909
		8742	8983 .L722:
		8743	8984 4ef2 6739 cpi r22,151
		8744	8985 4ef4 7105 cpc r23,__zero_reg__
		8745	8986 4ef6 04F0 brlt .L708
		8746	8987 4ef8 86E9 ldi r24,lo8(150)
		8747	8988 4efa 90E0 ldi r25,hi8(150)
		8748	8989 .L909:
		8749	8990 4efc 9093 0000 sts (StickGasHover)+1,r25
		8750	8991 4f00 8093 0000 sts StickGasHover,r24
		8751	8992 .L708:
		8752	8993 4f04 8091 0000 lds r24,BaroExpandActive
		8753	8994 4f08 9091 0000 lds r25,(BaroExpandActive)+1
		8754	8995 4f0c 892B or r24,r25
		8755	8996 4f0e 01F0 breq .L726
		8756	8997 4f10 8091 0000 lds r24,HoehenWert
		8757	8998 4f14 9091 0000 lds r25,(HoehenWert)+1
		8758	8999 4f18 A091 0000 lds r26,(HoehenWert)+2
		8759	9000 4f1c B091 0000 lds r27,(HoehenWert)+3
		8760	9001 4f20 8093 0000 sts SollHoehe,r24
		8761	9002 4f24 9093 0000 sts (SollHoehe)+1,r25
		8762	9003 4f28 A093 0000 sts (SollHoehe)+2,r26
		8763	9004 4f2c B093 0000 sts (SollHoehe)+3,r27
		8764	9005 4f30 00C0 rjmp .L726
		8765	9006 .L683:
		8766	9007 4f32 8091 0000 lds r24,HoehenWert
		8767	9008 4f36 9091 0000 lds r25,(HoehenWert)+1
		8768	9009 4f3a A091 0000 lds r26,(HoehenWert)+2
		8769	9010 4f3e B091 0000 lds r27,(HoehenWert)+3
		8770	9011 4f42 8059 subi r24,lo8(-(-400))
		8771	9012 4f44 9140 sbci r25,hi8(-(-400))
		8772	9013 4f46 A040 sbci r26,hlo8(-(-400))
		8773	9014 4f48 B040 sbci r27,hhi8(-(-400))
		8774	9015 4f4a 8093 0000 sts SollHoehe,r24
		8775	9016 4f4e 9093 0000 sts (SollHoehe)+1,r25
		8776	9017 4f52 A093 0000 sts (SollHoehe)+2,r26
		8777	9018 4f56 B093 0000 sts (SollHoehe)+3,r27
		8778	9019 4f5a 8091 0000 lds r24,EE_Parameter+22
		8779	9020 4f5e 8823 tst r24
		8780	9021 4f60 01F0 breq .L727
		8781	9022 4f62 9927 clr r25
		8782	9023 4f64 00C0 rjmp .L910
		8783	9024 .L727:
		8784	9025 4f66 88E7 ldi r24,lo8(120)
		8785	9026 4f68 90E0 ldi r25,hi8(120)
		8786	9027 .L910:
		8787	9028 4f6a 9093 0000 sts (StickGasHover)+1,r25
		8788	9029 4f6e 8093 0000 sts StickGasHover,r24
		8789	9030 4f72 E980 ldd r14,Y+1
		8790	9031 4f74 FA80 ldd r15,Y+2
		8791	9032 4f76 F092 0000 sts (HoverGas)+1,r15
		8792	9033 4f7a E092 0000 sts HoverGas,r14
		8793	9034 4f7e 8EE2 ldi r24,lo8(46)
		8794	9035 4f80 8093 0000 sts VarioCharacter,r24
		8795	9036 .L726:
		8796	9037 4f84 C090 0000 lds r12,HoverGas
		8797	9038 4f88 D090 0000 lds r13,(HoverGas)+1
		8798	9039 .L682:
		8799	9040 4f8c E090 0000 lds r14,HoehenWert
		8800	9041 4f90 F090 0000 lds r15,(HoehenWert)+1
		8801	9042 4f94 0091 0000 lds r16,(HoehenWert)+2
		8802	9043 4f98 1091 0000 lds r17,(HoehenWert)+3
		8803	9044 4f9c 2091 0000 lds r18,SollHoehe
		8804	9045 4fa0 3091 0000 lds r19,(SollHoehe)+1
		8805	9046 4fa4 4091 0000 lds r20,(SollHoehe)+2
		8806	9047 4fa8 5091 0000 lds r21,(SollHoehe)+3
		8807	9048 4fac 2E15 cp r18,r14
		8808	9049 4fae 3F05 cpc r19,r15
		8809	9050 4fb0 4007 cpc r20,r16
		8810	9051 4fb2 5107 cpc r21,r17
		8811	9052 4fb4 04F0 brlt .L730
		8812	9053 4fb6 8091 0000 lds r24,Parameter_ExtraConfig
		8813	9054 4fba 80FD sbrc r24,0
		8814	9055 4fbc 00C0 rjmp .L788
		8815	9056 .L730:
		8816	9057 4fbe 8091 0000 lds r24,BaroExpandActive
		8817	9058 4fc2 9091 0000 lds r25,(BaroExpandActive)+1
		8818	9059 4fc6 892B or r24,r25
		8819	9060 4fc8 01F0 breq .L731
		8820	9061 4fca C090 0000 lds r12,HoverGas
		8821	9062 4fce D090 0000 lds r13,(HoverGas)+1
		8822	9063 4fd2 00E0 ldi r16,lo8(0)
		8823	9064 4fd4 10E0 ldi r17,hi8(0)
		8824	9065 4fd6 00C0 rjmp .L732
		8825	9066 .L731:
		8826	9067 4fd8 D801 movw r26,r16
		8827	9068 4fda C701 movw r24,r14
		8828	9069 4fdc 821B sub r24,r18
		8829	9070 4fde 930B sbc r25,r19
		8830	9071 4fe0 A40B sbc r26,r20
		8831	9072 4fe2 B50B sbc r27,r21
		8832	9073 4fe4 8093 0000 sts tmp_long.1,r24
		8833	9074 4fe8 9093 0000 sts (tmp_long.1)+1,r25
		8834	9075 4fec A093 0000 sts (tmp_long.1)+2,r26
		8835	9076 4ff0 B093 0000 sts (tmp_long.1)+3,r27
		8836	9077 4ff4 8230 cpi r24,lo8(-32766)
		8837	9078 4ff6 00E8 ldi r16,hi8(-32766)
		8838	9079 4ff8 9007 cpc r25,r16
		8839	9080 4ffa 0FEF ldi r16,hlo8(-32766)
		8840	9081 4ffc A007 cpc r26,r16
		8841	9082 4ffe 0FEF ldi r16,hhi8(-32766)
		8842	9083 5000 B007 cpc r27,r16
		8843	9084 5002 04F4 brge .L733
		8844	9085 5004 81E0 ldi r24,lo8(-32767)
		8845	9086 5006 90E8 ldi r25,hi8(-32767)
		8846	9087 5008 AFEF ldi r26,hlo8(-32767)
		8847	9088 500a BFEF ldi r27,hhi8(-32767)
		8848	9089 500c 00C0 rjmp .L911
		8849	9090 .L733:
		8850	9091 500e 8F5F subi r24,lo8(32767)
		8851	9092 5010 9F47 sbci r25,hi8(32767)
		8852	9093 5012 A040 sbci r26,hlo8(32767)
		8853	9094 5014 B040 sbci r27,hhi8(32767)
		8854	9095 5016 04F0 brlt .L734
		8855	9096 5018 8FEF ldi r24,lo8(32767)
		8856	9097 501a 9FE7 ldi r25,hi8(32767)
		8857	9098 501c A0E0 ldi r26,hlo8(32767)
		8858	9099 501e B0E0 ldi r27,hhi8(32767)
		8859	9100 .L911:
		8860	9101 5020 8093 0000 sts tmp_long.1,r24
		8861	9102 5024 9093 0000 sts (tmp_long.1)+1,r25
		8862	9103 5028 A093 0000 sts (tmp_long.1)+2,r26
		8863	9104 502c B093 0000 sts (tmp_long.1)+3,r27
		8864	9105 .L734:
		8865	9106 5030 0091 0000 lds r16,tmp_long.1
		8866	9107 5034 1091 0000 lds r17,(tmp_long.1)+1
		8867	9108 5038 8091 0000 lds r24,Parameter_Hoehe_P
		8868	9109 503c 282F mov r18,r24
		8869	9110 503e 3327 clr r19
		8870	9111 5040 4427 clr r20
		8871	9112 5042 5527 clr r21
		8872	9113 5044 8091 0000 lds r24,tmp_long.1
		8873	9114 5048 9091 0000 lds r25,(tmp_long.1)+1
		8874	9115 504c A091 0000 lds r26,(tmp_long.1)+2
		8875	9116 5050 B091 0000 lds r27,(tmp_long.1)+3
		8876	9117 5054 BC01 movw r22,r24
		8877	9118 5056 CD01 movw r24,r26
		8878	9119 5058 0E94 0000 call __mulsi3
		8879	9120 505c 97FF sbrs r25,7
		8880	9121 505e 00C0 rjmp .L736
		8881	9122 5060 615E subi r22,lo8(-(31))
		8882	9123 5062 7F4F sbci r23,hi8(-(31))
		8883	9124 5064 8F4F sbci r24,hlo8(-(31))
		8884	9125 5066 9F4F sbci r25,hhi8(-(31))
		8885	9126 .L736:
		8886	9127 5068 25E0 ldi r18,5
		8887	9128 506a 9595 1: asr r25
		8888	9129 506c 8795 ror r24
		8889	9130 506e 7795 ror r23
		8890	9131 5070 6795 ror r22
		8891	9132 5072 2A95 dec r18
		8892	9133 5074 01F4 brne 1b
		8893	9134 5076 6093 0000 sts tmp_long.1,r22
		8894	9135 507a 7093 0000 sts (tmp_long.1)+1,r23
		8895	9136 507e 8093 0000 sts (tmp_long.1)+2,r24
		8896	9137 5082 9093 0000 sts (tmp_long.1)+3,r25
		8897	9138 5086 6530 cpi r22,lo8(-507)
		8898	9139 5088 2EEF ldi r18,hi8(-507)
		8899	9140 508a 7207 cpc r23,r18
		8900	9141 508c 2FEF ldi r18,hlo8(-507)
		8901	9142 508e 8207 cpc r24,r18
		8902	9143 5090 2FEF ldi r18,hhi8(-507)
		8903	9144 5092 9207 cpc r25,r18
		8904	9145 5094 04F4 brge .L737
		8905	9146 5096 84E0 ldi r24,lo8(-508)
		8906	9147 5098 9EEF ldi r25,hi8(-508)
		8907	9148 509a AFEF ldi r26,hlo8(-508)
		8908	9149 509c BFEF ldi r27,hhi8(-508)
		8909	9150 509e 00C0 rjmp .L912
		8910	9151 .L737:
		8911	9152 50a0 6050 subi r22,lo8(1024)
		8912	9153 50a2 7440 sbci r23,hi8(1024)
		8913	9154 50a4 8040 sbci r24,hlo8(1024)
		8914	9155 50a6 9040 sbci r25,hhi8(1024)
		8915	9156 50a8 04F0 brlt .L738
		8916	9157 50aa 80E0 ldi r24,lo8(1024)
		8917	9158 50ac 94E0 ldi r25,hi8(1024)
		8918	9159 50ae A0E0 ldi r26,hlo8(1024)
		8919	9160 50b0 B0E0 ldi r27,hhi8(1024)
		8920	9161 .L912:
		8921	9162 50b2 8093 0000 sts tmp_long.1,r24
		8922	9163 50b6 9093 0000 sts (tmp_long.1)+1,r25
		8923	9164 50ba A093 0000 sts (tmp_long.1)+2,r26
		8924	9165 50be B093 0000 sts (tmp_long.1)+3,r27
		8925	9166 .L738:
		8926	9167 50c2 8090 0000 lds r8,tmp_long.1
		8927	9168 50c6 9090 0000 lds r9,(tmp_long.1)+1
		8928	9169 50ca 2091 0000 lds r18,VarioMeter
		8929	9170 50ce 3091 0000 lds r19,(VarioMeter)+1
		8930	9171 50d2 37FF sbrs r19,7
		8931	9172 50d4 00C0 rjmp .L740
		8932	9173 50d6 295F subi r18,lo8(-(7))
		8933	9174 50d8 3F4F sbci r19,hi8(-(7))
		8934	9175 .L740:
		8935	9176 50da 83E0 ldi r24,3
		8936	9177 50dc 3595 1: asr r19
		8937	9178 50de 2795 ror r18
		8938	9179 50e0 8A95 dec r24
		8939	9180 50e2 01F4 brne 1b
		8940	9181 50e4 4FEF ldi r20,hi8(-126)
		8941	9182 50e6 2238 cpi r18,lo8(-126)
		8942	9183 50e8 3407 cpc r19,r20
		8943	9184 50ea 04F4 brge .L741
		8944	9185 50ec 21E8 ldi r18,lo8(-127)
		8945	9186 50ee 3FEF ldi r19,hi8(-127)
		8946	9187 50f0 00C0 rjmp .L742
		8947	9188 .L741:
		8948	9189 50f2 2038 cpi r18,128
		8949	9190 50f4 3105 cpc r19,__zero_reg__
		8950	9191 50f6 04F0 brlt .L742
		8951	9192 50f8 20E8 ldi r18,lo8(128)
		8952	9193 50fa 30E0 ldi r19,hi8(128)
		8953	9194 .L742:
		8954	9195 50fc C901 movw r24,r18
		8955	9196 50fe AA27 clr r26
		8956	9197 5100 97FD sbrc r25,7
		8957	9198 5102 A095 com r26
		8958	9199 5104 BA2F mov r27,r26
		8959	9200 5106 2091 0000 lds r18,Parameter_Luftdruck_D
		8960	9201 510a 3327 clr r19
		8961	9202 510c 4427 clr r20
		8962	9203 510e 5527 clr r21
		8963	9204 5110 BC01 movw r22,r24
		8964	9205 5112 CD01 movw r24,r26
		8965	9206 5114 0E94 0000 call __mulsi3
		8966	9207 5118 97FF sbrs r25,7
		8967	9208 511a 00C0 rjmp .L744
		8968	9209 511c 6D5F subi r22,lo8(-(3))
		8969	9210 511e 7F4F sbci r23,hi8(-(3))
		8970	9211 5120 8F4F sbci r24,hlo8(-(3))
		8971	9212 5122 9F4F sbci r25,hhi8(-(3))
		8972	9213 .L744:
		8973	9214 5124 B2E0 ldi r27,2
		8974	9215 5126 9595 1: asr r25
		8975	9216 5128 8795 ror r24
		8976	9217 512a 7795 ror r23
		8977	9218 512c 6795 ror r22
		8978	9219 512e BA95 dec r27
		8979	9220 5130 01F4 brne 1b
		8980	9221 5132 9B01 movw r18,r22
		8981	9222 5134 5FEF ldi r21,hi8(-255)
		8982	9223 5136 6130 cpi r22,lo8(-255)
		8983	9224 5138 7507 cpc r23,r21
		8984	9225 513a 04F4 brge .L745
		8985	9226 513c 20E0 ldi r18,lo8(-256)
		8986	9227 513e 3FEF ldi r19,hi8(-256)
		8987	9228 5140 00C0 rjmp .L746
		8988	9229 .L745:
		8989	9230 5142 6F3F cpi r22,255
		8990	9231 5144 7105 cpc r23,__zero_reg__
		8991	9232 5146 01F0 breq .L746
		8992	9233 5148 04F0 brlt .L746
		8993	9234 514a 20E0 ldi r18,lo8(256)
		8994	9235 514c 31E0 ldi r19,hi8(256)
		8995	9236 .L746:
		8996	9237 514e 8091 0000 lds r24,FC_StatusFlags
		8997	9238 5152 807C andi r24,lo8(-64)
		8998	9239 5154 01F0 breq .L748
		8999	9240 5156 C901 movw r24,r18
		9000	9241 5158 37FD sbrc r19,7
		9001	9242 515a 0396 adiw r24,3
		9002	9243 .L749:
		9003	9244 515c 9C01 movw r18,r24
		9004	9245 515e 3595 asr r19
		9005	9246 5160 2795 ror r18
		9006	9247 5162 3595 asr r19
		9007	9248 5164 2795 ror r18
		9008	9249 5166 00C0 rjmp .L750
		9009	9250 .L748:
		9010	9251 5168 8091 0000 lds r24,Parameter_ExtraConfig
		9011	9252 516c 80FF sbrs r24,0
		9012	9253 516e 00C0 rjmp .L750
		9013	9254 5170 C901 movw r24,r18
		9014	9255 5172 37FD sbrc r19,7
		9015	9256 5174 0796 adiw r24,7
		9016	9257 .L752:
		9017	9258 5176 9C01 movw r18,r24
		9018	9259 5178 F3E0 ldi r31,3
		9019	9260 517a 3595 1: asr r19
		9020	9261 517c 2795 ror r18
		9021	9262 517e FA95 dec r31
		9022	9263 5180 01F4 brne 1b
		9023	9264 .L750:
		9024	9265 5182 820E add r8,r18
		9025	9266 5184 931E adc r9,r19
		9026	9267 .L732:
		9027	9268 5186 2091 0000 lds r18,Parameter_Hoehe_ACC_Wirkung
		9028	9269 518a 2223 tst r18
		9029	9270 518c 01F4 brne .+2
		9030	9271 518e 00C0 rjmp .L753
		9031	9272 5190 6091 0000 lds r22,Mess_Integral_Hoch
		9032	9273 5194 7091 0000 lds r23,(Mess_Integral_Hoch)+1
		9033	9274 5198 8091 0000 lds r24,(Mess_Integral_Hoch)+2
		9034	9275 519c 9091 0000 lds r25,(Mess_Integral_Hoch)+3
		9035	9276 51a0 97FF sbrs r25,7
		9036	9277 51a2 00C0 rjmp .L754
		9037	9278 51a4 6158 subi r22,lo8(-(127))
		9038	9279 51a6 7F4F sbci r23,hi8(-(127))
		9039	9280 51a8 8F4F sbci r24,hlo8(-(127))
		9040	9281 51aa 9F4F sbci r25,hhi8(-(127))
		9041	9282 .L754:
		9042	9283 51ac E7E0 ldi r30,7
		9043	9284 51ae 9595 1: asr r25
		9044	9285 51b0 8795 ror r24
		9045	9286 51b2 7795 ror r23
		9046	9287 51b4 6795 ror r22
		9047	9288 51b6 EA95 dec r30
		9048	9289 51b8 01F4 brne 1b
		9049	9290 51ba 3327 clr r19
		9050	9291 51bc 4427 clr r20
		9051	9292 51be 5527 clr r21
		9052	9293 51c0 0E94 0000 call __mulsi3
		9053	9294 51c4 97FF sbrs r25,7
		9054	9295 51c6 00C0 rjmp .L755
		9055	9296 51c8 615E subi r22,lo8(-(31))
		9056	9297 51ca 7F4F sbci r23,hi8(-(31))
		9057	9298 51cc 8F4F sbci r24,hlo8(-(31))
		9058	9299 51ce 9F4F sbci r25,hhi8(-(31))
		9059	9300 .L755:
		9060	9301 51d0 55E0 ldi r21,5
		9061	9302 51d2 9595 1: asr r25
		9062	9303 51d4 8795 ror r24
		9063	9304 51d6 7795 ror r23
		9064	9305 51d8 6795 ror r22
		9065	9306 51da 5A95 dec r21
		9066	9307 51dc 01F4 brne 1b
		9067	9308 51de 6093 0000 sts tmp_long.1,r22
		9068	9309 51e2 7093 0000 sts (tmp_long.1)+1,r23
		9069	9310 51e6 8093 0000 sts (tmp_long.1)+2,r24
		9070	9311 51ea 9093 0000 sts (tmp_long.1)+3,r25
		9071	9312 51ee 6138 cpi r22,lo8(-127)
		9072	9313 51f0 AFEF ldi r26,hi8(-127)
		9073	9314 51f2 7A07 cpc r23,r26
		9074	9315 51f4 AFEF ldi r26,hlo8(-127)
		9075	9316 51f6 8A07 cpc r24,r26
		9076	9317 51f8 AFEF ldi r26,hhi8(-127)
		9077	9318 51fa 9A07 cpc r25,r26
		9078	9319 51fc 04F4 brge .L756
		9079	9320 51fe 80E8 ldi r24,lo8(-128)
		9080	9321 5200 9FEF ldi r25,hi8(-128)
		9081	9322 5202 AFEF ldi r26,hlo8(-128)
		9082	9323 5204 BFEF ldi r27,hhi8(-128)
		9083	9324 5206 00C0 rjmp .L913
		9084	9325 .L756:
		9085	9326 5208 6F3F cpi r22,lo8(255)
		9086	9327 520a 7105 cpc r23,__zero_reg__
		9087	9328 520c 8105 cpc r24,__zero_reg__
		9088	9329 520e 9105 cpc r25,__zero_reg__
		9089	9330 5210 01F0 breq .L757
		9090	9331 5212 04F0 brlt .L757
		9091	9332 5214 80E0 ldi r24,lo8(256)
		9092	9333 5216 91E0 ldi r25,hi8(256)
		9093	9334 5218 A0E0 ldi r26,hlo8(256)
		9094	9335 521a B0E0 ldi r27,hhi8(256)
		9095	9336 .L913:
		9096	9337 521c 8093 0000 sts tmp_long.1,r24
		9097	9338 5220 9093 0000 sts (tmp_long.1)+1,r25
		9098	9339 5224 A093 0000 sts (tmp_long.1)+2,r26
		9099	9340 5228 B093 0000 sts (tmp_long.1)+3,r27
		9100	9341 .L757:
		9101	9342 522c 8091 0000 lds r24,tmp_long.1
		9102	9343 5230 9091 0000 lds r25,(tmp_long.1)+1
		9103	9344 5234 880E add r8,r24
		9104	9345 5236 991E adc r9,r25
		9105	9346 .L753:
		9106	9347 5238 8091 0000 lds r24,Parameter_Hoehe_GPS_Z
		9107	9348 523c 282F mov r18,r24
		9108	9349 523e 3327 clr r19
		9109	9350 5240 8091 0000 lds r24,FromNaviCtrl_Value+4
		9110	9351 5244 9927 clr r25
		9111	9352 5246 87FD sbrc r24,7
		9112	9353 5248 9095 com r25
		9113	9354 524a 289F mul r18,r24
		9114	9355 524c F001 movw r30,r0
		9115	9356 524e 299F mul r18,r25
		9116	9357 5250 F00D add r31,r0
		9117	9358 5252 389F mul r19,r24
		9118	9359 5254 F00D add r31,r0
		9119	9360 5256 1124 clr r1
		9120	9361 5258 9F01 movw r18,r30
		9121	9362 525a F7FF sbrs r31,7
		9122	9363 525c 00C0 rjmp .L759
		9123	9364 525e 2158 subi r18,lo8(-(127))
		9124	9365 5260 3F4F sbci r19,hi8(-(127))
		9125	9366 .L759:
		9126	9367 5262 220F lsl r18
		9127	9368 5264 232F mov r18,r19
		9128	9369 5266 221F rol r18
		9129	9370 5268 330B sbc r19,r19
		9130	9371 526a FFEF ldi r31,hi8(-127)
		9131	9372 526c 2138 cpi r18,lo8(-127)
		9132	9373 526e 3F07 cpc r19,r31
		9133	9374 5270 04F4 brge .L760
		9134	9375 5272 20E8 ldi r18,lo8(-128)
		9135	9376 5274 3FEF ldi r19,hi8(-128)
		9136	9377 5276 00C0 rjmp .L761
		9137	9378 .L760:
		9138	9379 5278 2F3F cpi r18,255
		9139	9380 527a 3105 cpc r19,__zero_reg__
		9140	9381 527c 01F0 breq .L761
		9141	9382 527e 04F0 brlt .L761
		9142	9383 5280 20E0 ldi r18,lo8(256)
		9143	9384 5282 31E0 ldi r19,hi8(256)
		9144	9385 .L761:
		9145	9386 5284 820E add r8,r18
		9146	9387 5286 931E adc r9,r19
		9147	9388 5288 C401 movw r24,r8
		9148	9389 528a AA27 clr r26
		9149	9390 528c 97FD sbrc r25,7
		9150	9391 528e A095 com r26
		9151	9392 5290 BA2F mov r27,r26
		9152	9393 5292 E090 0000 lds r14,HoverGas
		9153	9394 5296 F090 0000 lds r15,(HoverGas)+1
		9154	9395 529a 9701 movw r18,r14
		9155	9396 529c 4427 clr r20
		9156	9397 529e 37FD sbrc r19,7
		9157	9398 52a0 4095 com r20
		9158	9399 52a2 542F mov r21,r20
		9159	9400 52a4 BC01 movw r22,r24
		9160	9401 52a6 CD01 movw r24,r26
		9161	9402 52a8 0E94 0000 call __mulsi3
		9162	9403 52ac 97FF sbrs r25,7
		9163	9404 52ae 00C0 rjmp .L763
		9164	9405 52b0 6150 subi r22,lo8(-(511))
		9165	9406 52b2 7E4F sbci r23,hi8(-(511))
		9166	9407 52b4 8F4F sbci r24,hlo8(-(511))
		9167	9408 52b6 9F4F sbci r25,hhi8(-(511))
		9168	9409 .L763:
		9169	9410 52b8 29E0 ldi r18,9
		9170	9411 52ba 9595 1: asr r25
		9171	9412 52bc 8795 ror r24
		9172	9413 52be 7795 ror r23
		9173	9414 52c0 6795 ror r22
		9174	9415 52c2 2A95 dec r18
		9175	9416 52c4 01F4 brne 1b
		9176	9417 52c6 C61A sub r12,r22
		9177	9418 52c8 D70A sbc r13,r23
		9178	9419 52ca 8091 0000 lds r24,AltitudeSetpointTrimming
		9179	9420 52ce 9091 0000 lds r25,(AltitudeSetpointTrimming)+1
		9180	9421 52d2 892B or r24,r25
		9181	9422 52d4 01F0 breq .+2
		9182	9423 52d6 00C0 rjmp .L764
		9183	9424 52d8 1E14 cp __zero_reg__,r14
		9184	9425 52da 1F04 cpc __zero_reg__,r15
		9185	9426 52dc 04F0 brlt .+2
		9186	9427 52de 00C0 rjmp .L764
		9187	9428 52e0 9801 movw r18,r16
		9188	9429 52e2 17FF sbrs r17,7
		9189	9430 52e4 00C0 rjmp .L765
		9190	9431 52e6 3095 com r19
		9191	9432 52e8 2195 neg r18
		9192	9433 52ea 3F4F sbci r19,lo8(-1)
		9193	9434 .L765:
		9194	9435 52ec 2D33 cpi r18,61
		9195	9436 52ee 3105 cpc r19,__zero_reg__
		9196	9437 52f0 00F4 brsh .L766
		9197	9438 52f2 8091 0000 lds r24,HoverGasMin
		9198	9439 52f6 9091 0000 lds r25,(HoverGasMin)+1
		9199	9440 52fa 8C15 cp r24,r12
		9200	9441 52fc 9D05 cpc r25,r13
		9201	9442 52fe 04F4 brge .L915
		9202	9443 5300 00C0 rjmp .L924
		9203	9444 .L766:
		9204	9445 5302 2C53 subi r18,lo8(-(-60))
		9205	9446 5304 3040 sbci r19,hi8(-(-60))
		9206	9447 5306 85E0 ldi r24,5
		9207	9448 5308 3695 1: lsr r19
		9208	9449 530a 2795 ror r18
		9209	9450 530c 8A95 dec r24
		9210	9451 530e 01F4 brne 1b
		9211	9452 5310 2031 cpi r18,16
		9212	9453 5312 3105 cpc r19,__zero_reg__
		9213	9454 5314 00F0 brlo .L771
		9214	9455 5316 2FE0 ldi r18,lo8(15)
		9215	9456 5318 30E0 ldi r19,hi8(15)
		9216	9457 .L771:
		9217	9458 531a 4091 0000 lds r20,HoverGasMin
		9218	9459 531e 5091 0000 lds r21,(HoverGasMin)+1
		9219	9460 5322 1016 cp __zero_reg__,r16
		9220	9461 5324 1106 cpc __zero_reg__,r17
		9221	9462 5326 04F4 brge .L772
		9222	9463 5328 80E1 ldi r24,lo8(16)
		9223	9464 532a 90E0 ldi r25,hi8(16)
		9224	9465 532c 821B sub r24,r18
		9225	9466 532e 930B sbc r25,r19
		9226	9467 5330 489F mul r20,r24
		9227	9468 5332 9001 movw r18,r0
		9228	9469 5334 499F mul r20,r25
		9229	9470 5336 300D add r19,r0
		9230	9471 5338 589F mul r21,r24
		9231	9472 533a 300D add r19,r0
		9232	9473 533c 1124 clr r1
		9233	9474 533e B4E0 ldi r27,4
		9234	9475 5340 3695 1: lsr r19
		9235	9476 5342 2795 ror r18
		9236	9477 5344 BA95 dec r27
		9237	9478 5346 01F4 brne 1b
		9238	9479 5348 2C15 cp r18,r12
		9239	9480 534a 3D05 cpc r19,r13
		9240	9481 534c 00F4 brsh .L914
		9241	9482 .L924:
		9242	9483 534e 8091 0000 lds r24,HoverGasMax
		9243	9484 5352 9091 0000 lds r25,(HoverGasMax)+1
		9244	9485 5356 C816 cp r12,r24
		9245	9486 5358 D906 cpc r13,r25
		9246	9487 535a 04F0 brlt .L764
		9247	9488 .L915:
		9248	9489 535c 6C01 movw r12,r24
		9249	9490 535e 00C0 rjmp .L764
		9250	9491 .L772:
		9251	9492 5360 205F subi r18,lo8(-(16))
		9252	9493 5362 3F4F sbci r19,hi8(-(16))
		9253	9494 5364 8091 0000 lds r24,HoverGasMax
		9254	9495 5368 9091 0000 lds r25,(HoverGasMax)+1
		9255	9496 536c 829F mul r24,r18
		9256	9497 536e 8001 movw r16,r0
		9257	9498 5370 839F mul r24,r19
		9258	9499 5372 100D add r17,r0
		9259	9500 5374 929F mul r25,r18
		9260	9501 5376 100D add r17,r0
		9261	9502 5378 1124 clr r1
		9262	9503 537a 9801 movw r18,r16
		9263	9504 537c A4E0 ldi r26,4
		9264	9505 537e 3695 1: lsr r19
		9265	9506 5380 2795 ror r18
		9266	9507 5382 AA95 dec r26
		9267	9508 5384 01F4 brne 1b
		9268	9509 5386 4C15 cp r20,r12
		9269	9510 5388 5D05 cpc r21,r13
		9270	9511 538a 04F0 brlt .L777
		9271	9512 538c 6A01 movw r12,r20
		9272	9513 538e 00C0 rjmp .L764
		9273	9514 .L777:
		9274	9515 5390 C216 cp r12,r18
		9275	9516 5392 D306 cpc r13,r19
		9276	9517 5394 00F0 brlo .L764
		9277	9518 .L914:
		9278	9519 5396 6901 movw r12,r18
		9279	9520 .L764:
		9280	9521 5398 C601 movw r24,r12
		9281	9522 539a AA27 clr r26
		9282	9523 539c 97FD sbrc r25,7
		9283	9524 539e A095 com r26
		9284	9525 53a0 BA2F mov r27,r26
		9285	9526 53a2 FDE0 ldi r31,13
		9286	9527 53a4 880F 1: lsl r24
		9287	9528 53a6 991F rol r25
		9288	9529 53a8 AA1F rol r26
		9289	9530 53aa BB1F rol r27
		9290	9531 53ac FA95 dec r31
		9291	9532 53ae 01F4 brne 1b
		9292	9533 53b0 9501 movw r18,r10
		9293	9534 53b2 4427 clr r20
		9294	9535 53b4 37FD sbrc r19,7
		9295	9536 53b6 4095 com r20
		9296	9537 53b8 542F mov r21,r20
		9297	9538 53ba BC01 movw r22,r24
		9298	9539 53bc CD01 movw r24,r26
		9299	9540 53be 0E94 0000 call __divmodsi4
		9300	9541 53c2 2093 0000 sts tmp_long2.2,r18
		9301	9542 53c6 3093 0000 sts (tmp_long2.2)+1,r19
		9302	9543 53ca 4093 0000 sts (tmp_long2.2)+2,r20
		9303	9544 53ce 5093 0000 sts (tmp_long2.2)+3,r21
		9304	9545 53d2 C090 0000 lds r12,tmp_long2.2
		9305	9546 53d6 D090 0000 lds r13,(tmp_long2.2)+1
		9306	9547 53da 8091 0000 lds r24,FilterHCGas.22
		9307	9548 53de 9091 0000 lds r25,(FilterHCGas.22)+1
		9308	9549 53e2 9C01 movw r18,r24
		9309	9550 53e4 220F lsl r18
		9310	9551 53e6 331F rol r19
		9311	9552 53e8 280F add r18,r24
		9312	9553 53ea 391F adc r19,r25
		9313	9554 53ec 2C0D add r18,r12
		9314	9555 53ee 3D1D adc r19,r13
		9315	9556 53f0 37FF sbrs r19,7
		9316	9557 53f2 00C0 rjmp .L780
		9317	9558 53f4 2D5F subi r18,lo8(-(3))
		9318	9559 53f6 3F4F sbci r19,hi8(-(3))
		9319	9560 .L780:
		9320	9561 53f8 A901 movw r20,r18
		9321	9562 53fa 5595 asr r21
		9322	9563 53fc 4795 ror r20
		9323	9564 53fe 5595 asr r21
		9324	9565 5400 4795 ror r20
		9325	9566 5402 5093 0000 sts (FilterHCGas.22)+1,r21
		9326	9567 5406 4093 0000 sts FilterHCGas.22,r20
		9327	9568 540a 8091 0000 lds r24,EE_Parameter+14
		9328	9569 540e 282F mov r18,r24
		9329	9570 5410 3327 clr r19
		9330	9571 5412 220F lsl r18
		9331	9572 5414 331F rol r19
		9332	9573 5416 220F lsl r18
		9333	9574 5418 331F rol r19
		9334	9575 541a 2417 cp r18,r20
		9335	9576 541c 3507 cpc r19,r21
		9336	9577 541e 04F4 brge .L916
		9337	9578 5420 8091 0000 lds r24,MAX_GAS
		9338	9579 5424 282F mov r18,r24
		9339	9580 5426 3327 clr r19
		9340	9581 5428 220F lsl r18
		9341	9582 542a 331F rol r19
		9342	9583 542c 220F lsl r18
		9343	9584 542e 331F rol r19
		9344	9585 5430 2055 subi r18,lo8(-(-80))
		9345	9586 5432 3040 sbci r19,hi8(-(-80))
		9346	9587 5434 4217 cp r20,r18
		9347	9588 5436 5307 cpc r21,r19
		9348	9589 5438 04F0 brlt .L782
		9349	9590 .L916:
		9350	9591 543a 3093 0000 sts (FilterHCGas.22)+1,r19
		9351	9592 543e 2093 0000 sts FilterHCGas.22,r18
		9352	9593 .L782:
		9353	9594 5442 8091 0000 lds r24,Parameter_ExtraConfig
		9354	9595 5446 80FF sbrs r24,0
		9355	9596 5448 00C0 rjmp .L784
		9356	9597 544a 8091 0000 lds r24,FilterHCGas.22
		9357	9598 544e 9091 0000 lds r25,(FilterHCGas.22)+1
		9358	9599 5452 2981 ldd r18,Y+1
		9359	9600 5454 3A81 ldd r19,Y+2
		9360	9601 5456 8217 cp r24,r18
		9361	9602 5458 9307 cpc r25,r19
		9362	9603 545a 04F0 brlt .L785
		9363	9604 545c 3093 0000 sts (FilterHCGas.22)+1,r19
		9364	9605 5460 2093 0000 sts FilterHCGas.22,r18
		9365	9606 .L785:
		9366	9607 5464 4091 0000 lds r20,FilterHCGas.22
		9367	9608 5468 5091 0000 lds r21,(FilterHCGas.22)+1
		9368	9609 546c 5A83 std Y+2,r21
		9369	9610 546e 4983 std Y+1,r20
		9370	9611 5470 00C0 rjmp .L788
		9371	9612 .L784:
		9372	9613 5472 2981 ldd r18,Y+1
		9373	9614 5474 3A81 ldd r19,Y+2
		9374	9615 5476 2E19 sub r18,r14
		9375	9616 5478 3F09 sbc r19,r15
		9376	9617 547a 37FF sbrs r19,7
		9377	9618 547c 00C0 rjmp .L787
		9378	9619 547e 2D5F subi r18,lo8(-(3))
		9379	9620 5480 3F4F sbci r19,hi8(-(3))
		9380	9621 .L787:
		9381	9622 5482 3595 asr r19
		9382	9623 5484 2795 ror r18
		9383	9624 5486 3595 asr r19
		9384	9625 5488 2795 ror r18
		9385	9626 548a 6091 0000 lds r22,FilterHCGas.22
		9386	9627 548e 7091 0000 lds r23,(FilterHCGas.22)+1
		9387	9628 5492 620F add r22,r18
		9388	9629 5494 731F adc r23,r19
		9389	9630 5496 7A83 std Y+2,r23
		9390	9631 5498 6983 std Y+1,r22
		9391	9632 549a 00C0 rjmp .L788
		9392	9633 .L679:
		9393	9634 549c 8091 0000 lds r24,EE_Parameter+22
		9394	9635 54a0 8823 tst r24
		9395	9636 54a2 01F4 brne .L789
		9396	9637 54a4 6091 0000 lds r22,HoverGas
		9397	9638 54a8 7091 0000 lds r23,(HoverGas)+1
		9398	9639 54ac 77FF sbrs r23,7
		9399	9640 54ae 00C0 rjmp .L790
		9400	9641 54b0 6D5F subi r22,lo8(-(3))
		9401	9642 54b2 7F4F sbci r23,hi8(-(3))
		9402	9643 .L790:
		9403	9644 54b4 7595 asr r23
		9404	9645 54b6 6795 ror r22
		9405	9646 54b8 7595 asr r23
		9406	9647 54ba 6795 ror r22
		9407	9648 54bc 4091 0000 lds r20,UBat
		9408	9649 54c0 5091 0000 lds r21,(UBat)+1
		9409	9650 54c4 8091 0000 lds r24,BattLowVoltageWarning
		9410	9651 54c8 282F mov r18,r24
		9411	9652 54ca 3327 clr r19
		9412	9653 54cc 649F mul r22,r20
		9413	9654 54ce C001 movw r24,r0
		9414	9655 54d0 659F mul r22,r21
		9415	9656 54d2 900D add r25,r0
		9416	9657 54d4 749F mul r23,r20
		9417	9658 54d6 900D add r25,r0
		9418	9659 54d8 1124 clr r1
		9419	9660 54da B901 movw r22,r18
		9420	9661 54dc 0E94 0000 call __divmodhi4
		9421	9662 54e0 CB01 movw r24,r22
		9422	9663 54e2 00C0 rjmp .L917
		9423	9664 .L789:
		9424	9665 54e4 9927 clr r25
		9425	9666 .L917:
		9426	9667 54e6 9093 0000 sts (StickGasHover)+1,r25
		9427	9668 54ea 8093 0000 sts StickGasHover,r24
		9428	9669 54ee 8091 0000 lds r24,StickGasHover
		9429	9670 54f2 9091 0000 lds r25,(StickGasHover)+1
		9430	9671 54f6 8734 cpi r24,71
		9431	9672 54f8 9105 cpc r25,__zero_reg__
		9432	9673 54fa 04F4 brge .L792
		9433	9674 54fc 86E4 ldi r24,lo8(70)
		9434	9675 54fe 90E0 ldi r25,hi8(70)
		9435	9676 5500 00C0 rjmp .L918
		9436	9677 .L792:
		9437	9678 5502 8639 cpi r24,150
		9438	9679 5504 9105 cpc r25,__zero_reg__
		9439	9680 5506 04F0 brlt .L793
		9440	9681 5508 86E9 ldi r24,lo8(150)
		9441	9682 550a 90E0 ldi r25,hi8(150)
		9442	9683 .L918:
		9443	9684 550c 9093 0000 sts (StickGasHover)+1,r25
		9444	9685 5510 8093 0000 sts StickGasHover,r24
		9445	9686 .L793:
		9446	9687 5514 8981 ldd r24,Y+1
		9447	9688 5516 9A81 ldd r25,Y+2
		9448	9689 5518 9093 0000 sts (FilterHCGas.22)+1,r25
		9449	9690 551c 8093 0000 sts FilterHCGas.22,r24
		9450	9691 5520 8091 0000 lds r24,FC_StatusFlags
		9451	9692 5524 806C ori r24,lo8(-64)
		9452	9693 5526 8093 0000 sts FC_StatusFlags,r24
		9453	9694 552a 8091 0000 lds r24,FC_StatusFlags2
		9454	9695 552e 8D7F andi r24,lo8(-3)
		9455	9696 5530 8093 0000 sts FC_StatusFlags2,r24
		9456	9697 .L788:
		9457	9698 5534 8091 0000 lds r24,FC_StatusFlags
		9458	9699 5538 9927 clr r25
		9459	9700 553a 9C01 movw r18,r24
		9460	9701 553c 2270 andi r18,lo8(2)
		9461	9702 553e 3070 andi r19,hi8(2)
		9462	9703 5540 81FF sbrs r24,1
		9463	9704 5542 00C0 rjmp .L795
		9464	9705 5544 8091 0000 lds r24,HoverGasFilter.23
		9465	9706 5548 9091 0000 lds r25,(HoverGasFilter.23)+1
		9466	9707 554c A091 0000 lds r26,(HoverGasFilter.23)+2
		9467	9708 5550 B091 0000 lds r27,(HoverGasFilter.23)+3
		9468	9709 5554 0097 sbiw r24,0
		9469	9710 5556 A105 cpc r26,__zero_reg__
		9470	9711 5558 B105 cpc r27,__zero_reg__
		9471	9712 555a 01F0 breq .L797
		9472	9713 555c 8091 0000 lds r24,StartTrigger
		9473	9714 5560 8130 cpi r24,lo8(1)
		9474	9715 5562 01F4 brne .L796
		9475	9716 .L797:
		9476	9717 5564 E981 ldd r30,Y+1
		9477	9718 5566 FA81 ldd r31,Y+2
		9478	9719 5568 CF01 movw r24,r30
		9479	9720 556a AA27 clr r26
		9480	9721 556c 97FD sbrc r25,7
		9481	9722 556e A095 com r26
		9482	9723 5570 BA2F mov r27,r26
		9483	9724 5572 1EE0 ldi r17,14
		9484	9725 5574 880F 1: lsl r24
		9485	9726 5576 991F rol r25
		9486	9727 5578 AA1F rol r26
		9487	9728 557a BB1F rol r27
		9488	9729 557c 1A95 dec r17
		9489	9730 557e 01F4 brne 1b
		9490	9731 5580 8093 0000 sts HoverGasFilter.23,r24
		9491	9732 5584 9093 0000 sts (HoverGasFilter.23)+1,r25
		9492	9733 5588 A093 0000 sts (HoverGasFilter.23)+2,r26
		9493	9734 558c B093 0000 sts (HoverGasFilter.23)+3,r27
		9494	9735 .L796:
		9495	9736 5590 8091 0000 lds r24,StartTrigger
		9496	9737 5594 8130 cpi r24,lo8(1)
		9497	9738 5596 01F4 brne .L798
		9498	9739 5598 82E0 ldi r24,lo8(2)
		9499	9740 559a 8093 0000 sts StartTrigger,r24
		9500	9741 .L798:
		9501	9742 559e E980 ldd r14,Y+1
		9502	9743 55a0 FA80 ldd r15,Y+2
		9503	9744 55a2 C701 movw r24,r14
		9504	9745 55a4 AA27 clr r26
		9505	9746 55a6 97FD sbrc r25,7
		9506	9747 55a8 A095 com r26
		9507	9748 55aa BA2F mov r27,r26
		9508	9749 55ac 9501 movw r18,r10
		9509	9750 55ae 4427 clr r20
		9510	9751 55b0 37FD sbrc r19,7
		9511	9752 55b2 4095 com r20
		9512	9753 55b4 542F mov r21,r20
		9513	9754 55b6 BC01 movw r22,r24
		9514	9755 55b8 CD01 movw r24,r26
		9515	9756 55ba 0E94 0000 call __mulsi3
		9516	9757 55be DC01 movw r26,r24
		9517	9758 55c0 CB01 movw r24,r22
		9518	9759 55c2 8093 0000 sts tmp_long2.2,r24
		9519	9760 55c6 9093 0000 sts (tmp_long2.2)+1,r25
		9520	9761 55ca A093 0000 sts (tmp_long2.2)+2,r26
		9521	9762 55ce B093 0000 sts (tmp_long2.2)+3,r27
		9522	9763 55d2 B7FF sbrs r27,7
		9523	9764 55d4 00C0 rjmp .L799
		9524	9765 55d6 8150 subi r24,lo8(-(8191))
		9525	9766 55d8 904E sbci r25,hi8(-(8191))
		9526	9767 55da AF4F sbci r26,hlo8(-(8191))
		9527	9768 55dc BF4F sbci r27,hhi8(-(8191))
		9528	9769 .L799:
		9529	9770 55de 7C01 movw r14,r24
		9530	9771 55e0 8D01 movw r16,r26
		9531	9772 55e2 ADE0 ldi r26,13
		9532	9773 55e4 1595 1: asr r17
		9533	9774 55e6 0795 ror r16
		9534	9775 55e8 F794 ror r15
		9535	9776 55ea E794 ror r14
		9536	9777 55ec AA95 dec r26
		9537	9778 55ee 01F4 brne 1b
		9538	9779 55f0 E092 0000 sts tmp_long2.2,r14
		9539	9780 55f4 F092 0000 sts (tmp_long2.2)+1,r15
		9540	9781 55f8 0093 0000 sts (tmp_long2.2)+2,r16
		9541	9782 55fc 1093 0000 sts (tmp_long2.2)+3,r17
		9542	9783 5600 6091 0000 lds r22,modell_fliegt
		9543	9784 5604 7091 0000 lds r23,(modell_fliegt)+1
		9544	9785 5608 2FE0 ldi r18,hi8(4000)
		9545	9786 560a 603A cpi r22,lo8(4000)
		9546	9787 560c 7207 cpc r23,r18
		9547	9788 560e 00F4 brsh .L800
		9548	9789 5610 8091 0000 lds r24,HoverGasFilter.23
		9549	9790 5614 9091 0000 lds r25,(HoverGasFilter.23)+1
		9550	9791 5618 A091 0000 lds r26,(HoverGasFilter.23)+2
		9551	9792 561c B091 0000 lds r27,(HoverGasFilter.23)+3
		9552	9793 5620 9C01 movw r18,r24
		9553	9794 5622 AD01 movw r20,r26
		9554	9795 5624 FAE0 ldi r31,10
		9555	9796 5626 5695 1: lsr r21
		9556	9797 5628 4795 ror r20
		9557	9798 562a 3795 ror r19
		9558	9799 562c 2795 ror r18
		9559	9800 562e FA95 dec r31
		9560	9801 5630 01F4 brne 1b
		9561	9802 5632 821B sub r24,r18
		9562	9803 5634 930B sbc r25,r19
		9563	9804 5636 A40B sbc r26,r20
		9564	9805 5638 B50B sbc r27,r21
		9565	9806 563a A801 movw r20,r16
		9566	9807 563c 9701 movw r18,r14
		9567	9808 563e E4E0 ldi r30,4
		9568	9809 5640 220F 1: lsl r18
		9569	9810 5642 331F rol r19
		9570	9811 5644 441F rol r20
		9571	9812 5646 551F rol r21
		9572	9813 5648 EA95 dec r30
		9573	9814 564a 01F4 brne 1b
		9574	9815 564c 820F add r24,r18
		9575	9816 564e 931F adc r25,r19
		9576	9817 5650 A41F adc r26,r20
		9577	9818 5652 B51F adc r27,r21
		9578	9819 5654 8093 0000 sts HoverGasFilter.23,r24
		9579	9820 5658 9093 0000 sts (HoverGasFilter.23)+1,r25
		9580	9821 565c A093 0000 sts (HoverGasFilter.23)+2,r26
		9581	9822 5660 B093 0000 sts (HoverGasFilter.23)+3,r27
		9582	9823 .L800:
		9583	9824 5664 6054 subi r22,lo8(8000)
		9584	9825 5666 7F41 sbci r23,hi8(8000)
		9585	9826 5668 00F4 brsh .L801
		9586	9827 566a 8091 0000 lds r24,HoverGasFilter.23
		9587	9828 566e 9091 0000 lds r25,(HoverGasFilter.23)+1
		9588	9829 5672 A091 0000 lds r26,(HoverGasFilter.23)+2
		9589	9830 5676 B091 0000 lds r27,(HoverGasFilter.23)+3
		9590	9831 567a 9C01 movw r18,r24
		9591	9832 567c AD01 movw r20,r26
		9592	9833 567e 6CE0 ldi r22,12
		9593	9834 5680 5695 1: lsr r21
		9594	9835 5682 4795 ror r20
		9595	9836 5684 3795 ror r19
		9596	9837 5686 2795 ror r18
		9597	9838 5688 6A95 dec r22
		9598	9839 568a 01F4 brne 1b
		9599	9840 568c 821B sub r24,r18
		9600	9841 568e 930B sbc r25,r19
		9601	9842 5690 A40B sbc r26,r20
		9602	9843 5692 B50B sbc r27,r21
		9603	9844 5694 A801 movw r20,r16
		9604	9845 5696 9701 movw r18,r14
		9605	9846 5698 F2E0 ldi r31,2
		9606	9847 569a 220F 1: lsl r18
		9607	9848 569c 331F rol r19
		9608	9849 569e 441F rol r20
		9609	9850 56a0 551F rol r21
		9610	9851 56a2 FA95 dec r31
		9611	9852 56a4 01F4 brne 1b
		9612	9853 56a6 820F add r24,r18
		9613	9854 56a8 931F adc r25,r19
		9614	9855 56aa A41F adc r26,r20
		9615	9856 56ac B51F adc r27,r21
		9616	9857 56ae 00C0 rjmp .L919
		9617	9858 .L801:
		9618	9859 56b0 8091 0000 lds r24,VarioMeter
		9619	9860 56b4 9091 0000 lds r25,(VarioMeter)+1
		9620	9861 56b8 8091 0000 lds r24,VarioMeter
		9621	9862 56bc 9091 0000 lds r25,(VarioMeter)+1
		9622	9863 56c0 97FF sbrs r25,7
		9623	9864 56c2 00C0 rjmp .L804
		9624	9865 56c4 9095 com r25
		9625	9866 56c6 8195 neg r24
		9626	9867 56c8 9F4F sbci r25,lo8(-1)
		9627	9868 .L804:
		9628	9869 56ca 8436 cpi r24,100
		9629	9870 56cc 9105 cpc r25,__zero_reg__
		9630	9871 56ce 04F4 brge .L802
		9631	9872 56d0 8091 0000 lds r24,HoehenWert
		9632	9873 56d4 9091 0000 lds r25,(HoehenWert)+1
		9633	9874 56d8 2091 0000 lds r18,SollHoehe
		9634	9875 56dc 3091 0000 lds r19,(SollHoehe)+1
		9635	9876 56e0 821B sub r24,r18
		9636	9877 56e2 930B sbc r25,r19
		9637	9878 56e4 8150 subi r24,lo8(-(255))
		9638	9879 56e6 9F4F sbci r25,hi8(-(255))
		9639	9880 56e8 8F5F subi r24,lo8(511)
		9640	9881 56ea 9140 sbci r25,hi8(511)
		9641	9882 56ec 00F4 brsh .L802
		9642	9883 56ee 8091 0000 lds r24,HoverGasFilter.23
		9643	9884 56f2 9091 0000 lds r25,(HoverGasFilter.23)+1
		9644	9885 56f6 A091 0000 lds r26,(HoverGasFilter.23)+2
		9645	9886 56fa B091 0000 lds r27,(HoverGasFilter.23)+3
		9646	9887 56fe 9C01 movw r18,r24
		9647	9888 5700 AD01 movw r20,r26
		9648	9889 5702 EEE0 ldi r30,14
		9649	9890 5704 5695 1: lsr r21
		9650	9891 5706 4795 ror r20
		9651	9892 5708 3795 ror r19
		9652	9893 570a 2795 ror r18
		9653	9894 570c EA95 dec r30
		9654	9895 570e 01F4 brne 1b
		9655	9896 5710 821B sub r24,r18
		9656	9897 5712 930B sbc r25,r19
		9657	9898 5714 A40B sbc r26,r20
		9658	9899 5716 B50B sbc r27,r21
		9659	9900 5718 8E0D add r24,r14
		9660	9901 571a 9F1D adc r25,r15
		9661	9902 571c A01F adc r26,r16
		9662	9903 571e B11F adc r27,r17
		9663	9904 .L919:
		9664	9905 5720 8093 0000 sts HoverGasFilter.23,r24
		9665	9906 5724 9093 0000 sts (HoverGasFilter.23)+1,r25
		9666	9907 5728 A093 0000 sts (HoverGasFilter.23)+2,r26
		9667	9908 572c B093 0000 sts (HoverGasFilter.23)+3,r27
		9668	9909 .L802:
		9669	9910 5730 8091 0000 lds r24,HoverGasFilter.23
		9670	9911 5734 9091 0000 lds r25,(HoverGasFilter.23)+1
		9671	9912 5738 A091 0000 lds r26,(HoverGasFilter.23)+2
		9672	9913 573c B091 0000 lds r27,(HoverGasFilter.23)+3
		9673	9914 5740 7EE0 ldi r23,14
		9674	9915 5742 B695 1: lsr r27
		9675	9916 5744 A795 ror r26
		9676	9917 5746 9795 ror r25
		9677	9918 5748 8795 ror r24
		9678	9919 574a 7A95 dec r23
		9679	9920 574c 01F4 brne 1b
		9680	9921 574e 9093 0000 sts (HoverGas)+1,r25
		9681	9922 5752 8093 0000 sts HoverGas,r24
		9682	9923 5756 4091 0000 lds r20,EE_Parameter+20
		9683	9924 575a 4423 tst r20
		9684	9925 575c 01F0 breq .L805
		9685	9926 575e 5527 clr r21
		9686	9927 5760 9C01 movw r18,r24
		9687	9928 5762 BA01 movw r22,r20
		9688	9929 5764 0E94 0000 call __divmodhi4
		9689	9930 5768 C901 movw r24,r18
		9690	9931 576a 861B sub r24,r22
		9691	9932 576c 970B sbc r25,r23
		9692	9933 576e 9093 0000 sts (HoverGasMin)+1,r25
		9693	9934 5772 8093 0000 sts HoverGasMin,r24
		9694	9935 5776 260F add r18,r22
		9695	9936 5778 371F adc r19,r23
		9696	9937 577a 3093 0000 sts (HoverGasMax)+1,r19
		9697	9938 577e 2093 0000 sts HoverGasMax,r18
		9698	9939 5782 00C0 rjmp .L808
		9699	9940 .L805:
		9700	9941 5784 1092 0000 sts (HoverGasMin)+1,__zero_reg__
		9701	9942 5788 1092 0000 sts HoverGasMin,__zero_reg__
		9702	9943 578c 8FEF ldi r24,lo8(1023)
		9703	9944 578e 93E0 ldi r25,hi8(1023)
		9704	9945 5790 9093 0000 sts (HoverGasMax)+1,r25
		9705	9946 5794 8093 0000 sts HoverGasMax,r24
		9706	9947 5798 00C0 rjmp .L808
		9707	9948 .L795:
		9708	9949 579a 1092 0000 sts StartTrigger,__zero_reg__
		9709	9950 579e 1092 0000 sts HoverGasFilter.23,__zero_reg__
		9710	9951 57a2 1092 0000 sts (HoverGasFilter.23)+1,__zero_reg__
		9711	9952 57a6 1092 0000 sts (HoverGasFilter.23)+2,__zero_reg__
		9712	9953 57aa 1092 0000 sts (HoverGasFilter.23)+3,__zero_reg__
		9713	9954 57ae 3093 0000 sts (HoverGas)+1,r19
		9714	9955 57b2 2093 0000 sts HoverGas,r18
		9715	9956 57b6 00C0 rjmp .L808
		9716	9957 .L659:
		9717	9958 57b8 8091 0000 lds r24,FC_StatusFlags
		9718	9959 57bc 806C ori r24,lo8(-64)
		9719	9960 57be 8093 0000 sts FC_StatusFlags,r24
		9720	9961 .L808:
		9721	9962 57c2 8091 0000 lds r24,NC_To_FC_Flags
		9722	9963 57c6 81FF sbrs r24,1
		9723	9964 57c8 00C0 rjmp .L809
		9724	9965 57ca 8981 ldd r24,Y+1
		9725	9966 57cc 9A81 ldd r25,Y+2
		9726	9967 57ce 97FD sbrc r25,7
		9727	9968 57d0 0396 adiw r24,3
		9728	9969 .L811:
		9729	9970 57d2 9595 asr r25
		9730	9971 57d4 8795 ror r24
		9731	9972 57d6 9595 asr r25
		9732	9973 57d8 8795 ror r24
		9733	9974 57da 2091 0000 lds r18,HooverGasEmergencyPercent
		9734	9975 57de 3091 0000 lds r19,(HooverGasEmergencyPercent)+1
		9735	9976 57e2 2817 cp r18,r24
		9736	9977 57e4 3907 cpc r19,r25
		9737	9978 57e6 00F4 brsh .L810
		9738	9979 57e8 8091 0000 lds r24,HoverGas
		9739	9980 57ec 9091 0000 lds r25,(HoverGas)+1
		9740	9981 57f0 892B or r24,r25
		9741	9982 57f2 01F0 breq .L810
		9742	9983 57f4 220F lsl r18
		9743	9984 57f6 331F rol r19
		9744	9985 57f8 220F lsl r18
		9745	9986 57fa 331F rol r19
		9746	9987 57fc 3A83 std Y+2,r19
		9747	9988 57fe 2983 std Y+1,r18
		9748	9989 .L810:
		9749	9990 5800 8091 0000 lds r24,HoehenWert
		9750	9991 5804 9091 0000 lds r25,(HoehenWert)+1
		9751	9992 5808 A091 0000 lds r26,(HoehenWert)+2
		9752	9993 580c B091 0000 lds r27,(HoehenWert)+3
		9753	9994 5810 8093 0000 sts SollHoehe,r24
		9754	9995 5814 9093 0000 sts (SollHoehe)+1,r25
		9755	9996 5818 A093 0000 sts (SollHoehe)+2,r26
		9756	9997 581c B093 0000 sts (SollHoehe)+3,r27
		9757	9998 5820 88E9 ldi r24,lo8(15000)
		9758	9999 5822 9AE3 ldi r25,hi8(15000)
		9759	10000 5824 9093 0000 sts (beeptime)+1,r25
		9760	10001 5828 8093 0000 sts beeptime,r24
		9761	10002 582c 80E0 ldi r24,lo8(3584)
		9762	10003 582e 9EE0 ldi r25,hi8(3584)
		9763	10004 5830 9093 0000 sts (BeepMuster)+1,r25
		9764	10005 5834 8093 0000 sts BeepMuster,r24
		9765	10006 .L809:
		9766	10007 5838 2091 0000 lds r18,MIN_GAS
		9767	10008 583c 822F mov r24,r18
		9768	10009 583e 9927 clr r25
		9769	10010 5840 880F lsl r24
		9770	10011 5842 991F rol r25
		9771	10012 5844 880F lsl r24
		9772	10013 5846 991F rol r25
		9773	10014 5848 8896 adiw r24,40
		9774	10015 584a 6981 ldd r22,Y+1
		9775	10016 584c 7A81 ldd r23,Y+2
		9776	10017 584e 8617 cp r24,r22
		9777	10018 5850 9707 cpc r25,r23
		9778	10019 5852 04F0 brlt .L812
		9779	10020 5854 9A83 std Y+2,r25
		9780	10021 5856 8983 std Y+1,r24
		9781	10022 .L812:
		9782	10023 5858 7091 0000 lds r23,MAX_GAS
		9783	10024 585c 7D8B std Y+21,r23
		9784	10025 585e 872F mov r24,r23
		9785	10026 5860 9927 clr r25
		9786	10027 5862 880F lsl r24
		9787	10028 5864 991F rol r25
		9788	10029 5866 880F lsl r24
		9789	10030 5868 991F rol r25
		9790	10031 586a 8055 subi r24,lo8(-(-80))
		9791	10032 586c 9040 sbci r25,hi8(-(-80))
		9792	10033 586e A981 ldd r26,Y+1
		9793	10034 5870 BA81 ldd r27,Y+2
		9794	10035 5872 8A17 cp r24,r26
		9795	10036 5874 9B07 cpc r25,r27
		9796	10037 5876 04F4 brge .L813
		9797	10038 5878 9A83 std Y+2,r25
		9798	10039 587a 8983 std Y+1,r24
		9799	10040 .L813:
		9800	10041 587c 8091 0000 lds r24,MissingMotor
		9801	10042 5880 8823 tst r24
		9802	10043 5882 01F4 brne .L815
		9803	10044 5884 8091 0000 lds r24,Capacity+6
		9804	10045 5888 8F3F cpi r24,lo8(-1)
		9805	10046 588a 01F4 brne .L815
		9806	10047 588c 8091 0000 lds r24,NC_ErrorCode
		9807	10048 5890 8823 tst r24
		9808	10049 5892 01F0 breq .L814
		9809	10050 .L815:
		9810	10051 5894 8091 0000 lds r24,modell_fliegt
		9811	10052 5898 9091 0000 lds r25,(modell_fliegt)+1
		9812	10053 589c 0297 sbiw r24,2
		9813	10054 589e C097 sbiw r24,48
		9814	10055 58a0 00F4 brsh .L814
		9815	10056 58a2 E981 ldd r30,Y+1
		9816	10057 58a4 FA81 ldd r31,Y+2
		9817	10058 58a6 1E16 cp __zero_reg__,r30
		9818	10059 58a8 1F06 cpc __zero_reg__,r31
		9819	10060 58aa 04F4 brge .L814
		9820	10061 58ac 81E0 ldi r24,lo8(1)
		9821	10062 58ae 90E0 ldi r25,hi8(1)
		9822	10063 58b0 9093 0000 sts (modell_fliegt)+1,r25
		9823	10064 58b4 8093 0000 sts modell_fliegt,r24
		9824	10065 58b8 E22E mov r14,r18
		9825	10066 58ba FF24 clr r15
		9826	10067 58bc EE0C lsl r14
		9827	10068 58be FF1C rol r15
		9828	10069 58c0 EE0C lsl r14
		9829	10070 58c2 FF1C rol r15
		9830	10071 58c4 8701 movw r16,r14
		9831	10072 58c6 085D subi r16,lo8(-(40))
		9832	10073 58c8 1F4F sbci r17,hi8(-(40))
		9833	10074 58ca 1A83 std Y+2,r17
		9834	10075 58cc 0983 std Y+1,r16
		9835	10076 .L814:
		9836	10077 58ce 2981 ldd r18,Y+1
		9837	10078 58d0 3A81 ldd r19,Y+2
		9838	10079 58d2 3093 0000 sts (DebugOut+16)+1,r19
		9839	10080 58d6 2093 0000 sts DebugOut+16,r18
		9840	10081 58da 8091 0000 lds r24,sollGier.0
		9841	10082 58de 9091 0000 lds r25,(sollGier.0)+1
		9842	10083 58e2 A091 0000 lds r26,(sollGier.0)+2
		9843	10084 58e6 B091 0000 lds r27,(sollGier.0)+3
		9844	10085 58ea 12E0 ldi r17,2
		9845	10086 58ec 880F 1: lsl r24
		9846	10087 58ee 991F rol r25
		9847	10088 58f0 AA1F rol r26
		9848	10089 58f2 BB1F rol r27
		9849	10090 58f4 1A95 dec r17
		9850	10091 58f6 01F4 brne 1b
		9851	10092 58f8 0091 0000 lds r16,MesswertGier
		9852	10093 58fc 1091 0000 lds r17,(MesswertGier)+1
		9853	10094 5900 081B sub r16,r24
		9854	10095 5902 190B sbc r17,r25
		9855	10096 5904 213A cpi r18,161
		9856	10097 5906 3105 cpc r19,__zero_reg__
		9857	10098 5908 04F0 brlt .L817
		9858	10099 590a C901 movw r24,r18
		9859	10100 590c 37FD sbrc r19,7
		9860	10101 590e 0196 adiw r24,1
		9861	10102 .L819:
		9862	10103 5910 9595 asr r25
		9863	10104 5912 8795 ror r24
		9864	10105 5914 8017 cp r24,r16
		9865	10106 5916 9107 cpc r25,r17
		9866	10107 5918 04F4 brge .L818
		9867	10108 591a 8C01 movw r16,r24
		9868	10109 .L818:
		9869	10110 591c 9095 com r25
		9870	10111 591e 8195 neg r24
		9871	10112 5920 9F4F sbci r25,lo8(-1)
		9872	10113 5922 0817 cp r16,r24
		9873	10114 5924 1907 cpc r17,r25
		9874	10115 5926 04F4 brge .L824
		9875	10116 5928 8C01 movw r16,r24
		9876	10117 592a 00C0 rjmp .L824
		9877	10118 .L817:
		9878	10119 592c 0135 cpi r16,81
		9879	10120 592e 1105 cpc r17,__zero_reg__
		9880	10121 5930 04F0 brlt .L825
		9881	10122 5932 00E5 ldi r16,lo8(80)
		9882	10123 5934 10E0 ldi r17,hi8(80)
		9883	10124 .L825:
		9884	10125 5936 3FEF ldi r19,hi8(-80)
		9885	10126 5938 003B cpi r16,lo8(-80)
		9886	10127 593a 1307 cpc r17,r19
		9887	10128 593c 04F4 brge .L824
		9888	10129 593e 00EB ldi r16,lo8(-80)
		9889	10130 5940 1FEF ldi r17,hi8(-80)
		9890	10131 .L824:
		9891	10132 5942 4D89 ldd r20,Y+21
		9892	10133 5944 242F mov r18,r20
		9893	10134 5946 3327 clr r19
		9894	10135 5948 220F lsl r18
		9895	10136 594a 331F rol r19
		9896	10137 594c 220F lsl r18
		9897	10138 594e 331F rol r19
		9898	10139 5950 C901 movw r24,r18
		9899	10140 5952 6981 ldd r22,Y+1
		9900	10141 5954 7A81 ldd r23,Y+2
		9901	10142 5956 861B sub r24,r22
		9902	10143 5958 970B sbc r25,r23
		9903	10144 595a 8017 cp r24,r16
		9904	10145 595c 9107 cpc r25,r17
		9905	10146 595e 04F4 brge .L827
		9906	10147 5960 8C01 movw r16,r24
		9907	10148 .L827:
		9908	10149 5962 8981 ldd r24,Y+1
		9909	10150 5964 9A81 ldd r25,Y+2
		9910	10151 5966 821B sub r24,r18
		9911	10152 5968 930B sbc r25,r19
		9912	10153 596a 0817 cp r16,r24
		9913	10154 596c 1907 cpc r17,r25
		9914	10155 596e 04F4 brge .L828
		9915	10156 5970 8C01 movw r16,r24
		9916	10157 .L828:
		9917	10158 5972 8091 0000 lds r24,MesswertNick
		9918	10159 5976 9091 0000 lds r25,(MesswertNick)+1
		9919	10160 597a 6091 0000 lds r22,StickNick
		9920	10161 597e 7091 0000 lds r23,(StickNick)+1
		9921	10162 5982 861B sub r24,r22
		9922	10163 5984 970B sbc r25,r23
		9923	10164 5986 9093 0000 sts (DiffNick)+1,r25
		9924	10165 598a 8093 0000 sts DiffNick,r24
		9925	10166 598e D090 0000 lds r13,IntegralFaktor
		9926	10167 5992 2091 0000 lds r18,SummeNick
		9927	10168 5996 3091 0000 lds r19,(SummeNick)+1
		9928	10169 599a 4091 0000 lds r20,(SummeNick)+2
		9929	10170 599e 5091 0000 lds r21,(SummeNick)+3
		9930	10171 59a2 DD20 tst r13
		9931	10172 59a4 01F0 breq .L829
		9932	10173 59a6 661A sub r6,r22
		9933	10174 59a8 770A sbc r7,r23
		9934	10175 59aa C301 movw r24,r6
		9935	10176 59ac AA27 clr r26
		9936	10177 59ae 97FD sbrc r25,7
		9937	10178 59b0 A095 com r26
		9938	10179 59b2 BA2F mov r27,r26
		9939	10180 59b4 00C0 rjmp .L920
		9940	10181 .L829:
		9941	10182 59b6 AA27 clr r26
		9942	10183 59b8 97FD sbrc r25,7
		9943	10184 59ba A095 com r26
		9944	10185 59bc BA2F mov r27,r26
		9945	10186 .L920:
		9946	10187 59be 280F add r18,r24
		9947	10188 59c0 391F adc r19,r25
		9948	10189 59c2 4A1F adc r20,r26
		9949	10190 59c4 5B1F adc r21,r27
		9950	10191 59c6 2093 0000 sts SummeNick,r18
		9951	10192 59ca 3093 0000 sts (SummeNick)+1,r19
		9952	10193 59ce 4093 0000 sts (SummeNick)+2,r20
		9953	10194 59d2 5093 0000 sts (SummeNick)+3,r21
		9954	10195 59d6 8091 0000 lds r24,SummeNick
		9955	10196 59da 9091 0000 lds r25,(SummeNick)+1
		9956	10197 59de A091 0000 lds r26,(SummeNick)+2
		9957	10198 59e2 B091 0000 lds r27,(SummeNick)+3
		9958	10199 59e6 8150 subi r24,lo8(64001)
		9959	10200 59e8 9A4F sbci r25,hi8(64001)
		9960	10201 59ea A040 sbci r26,hlo8(64001)
		9961	10202 59ec B040 sbci r27,hhi8(64001)
		9962	10203 59ee 04F0 brlt .L831
		9963	10204 59f0 80E0 ldi r24,lo8(64000)
		9964	10205 59f2 9AEF ldi r25,hi8(64000)
		9965	10206 59f4 A0E0 ldi r26,hlo8(64000)
		9966	10207 59f6 B0E0 ldi r27,hhi8(64000)
		9967	10208 59f8 8093 0000 sts SummeNick,r24
		9968	10209 59fc 9093 0000 sts (SummeNick)+1,r25
		9969	10210 5a00 A093 0000 sts (SummeNick)+2,r26
		9970	10211 5a04 B093 0000 sts (SummeNick)+3,r27
		9971	10212 .L831:
		9972	10213 5a08 8091 0000 lds r24,SummeNick
		9973	10214 5a0c 9091 0000 lds r25,(SummeNick)+1
		9974	10215 5a10 A091 0000 lds r26,(SummeNick)+2
		9975	10216 5a14 B091 0000 lds r27,(SummeNick)+3
		9976	10217 5a18 8050 subi r24,lo8(-64000)
		9977	10218 5a1a 9640 sbci r25,hi8(-64000)
		9978	10219 5a1c AF4F sbci r26,hlo8(-64000)
		9979	10220 5a1e BF4F sbci r27,hhi8(-64000)
		9980	10221 5a20 04F4 brge .L832
		9981	10222 5a22 80E0 ldi r24,lo8(-64000)
		9982	10223 5a24 96E0 ldi r25,hi8(-64000)
		9983	10224 5a26 AFEF ldi r26,hlo8(-64000)
		9984	10225 5a28 BFEF ldi r27,hhi8(-64000)
		9985	10226 5a2a 8093 0000 sts SummeNick,r24
		9986	10227 5a2e 9093 0000 sts (SummeNick)+1,r25
		9987	10228 5a32 A093 0000 sts (SummeNick)+2,r26
		9988	10229 5a36 B093 0000 sts (SummeNick)+3,r27
		9989	10230 .L832:
		9990	10231 5a3a C090 0000 lds r12,EE_Parameter+35
		9991	10232 5a3e 2091 0000 lds r18,DiffNick
		9992	10233 5a42 3091 0000 lds r19,(DiffNick)+1
		9993	10234 5a46 78E0 ldi r23,lo8(8)
		9994	10235 5a48 E72E mov r14,r23
		9995	10236 5a4a EC14 cp r14,r12
		9996	10237 5a4c 00F0 brlo .L833
		9997	10238 5a4e 8C2D mov r24,r12
		9998	10239 5a50 9927 clr r25
		9999	10240 5a52 829F mul r24,r18
		10000	10241 5a54 A001 movw r20,r0
		10001	10242 5a56 839F mul r24,r19
		10002	10243 5a58 500D add r21,r0
		10003	10244 5a5a 929F mul r25,r18
		10004	10245 5a5c 500D add r21,r0
		10005	10246 5a5e 1124 clr r1
		10006	10247 5a60 CA01 movw r24,r20
		10007	10248 5a62 57FD sbrc r21,7
		10008	10249 5a64 0796 adiw r24,7
		10009	10250 .L834:
		10010	10251 5a66 7C01 movw r14,r24
		10011	10252 5a68 63E0 ldi r22,3
		10012	10253 5a6a F594 1: asr r15
		10013	10254 5a6c E794 ror r14
		10014	10255 5a6e 6A95 dec r22
		10015	10256 5a70 01F4 brne 1b
		10016	10257 5a72 00C0 rjmp .L835
		10017	10258 .L833:
		10018	10259 5a74 8C2D mov r24,r12
		10019	10260 5a76 8695 lsr r24
		10020	10261 5a78 9927 clr r25
		10021	10262 5a7a 829F mul r24,r18
		10022	10263 5a7c B001 movw r22,r0
		10023	10264 5a7e 839F mul r24,r19
		10024	10265 5a80 700D add r23,r0
		10025	10266 5a82 929F mul r25,r18
		10026	10267 5a84 700D add r23,r0
		10027	10268 5a86 1124 clr r1
		10028	10269 5a88 CB01 movw r24,r22
		10029	10270 5a8a 77FD sbrc r23,7
		10030	10271 5a8c 0396 adiw r24,3
		10031	10272 .L836:
		10032	10273 5a8e 7C01 movw r14,r24
		10033	10274 5a90 F594 asr r15
		10034	10275 5a92 E794 ror r14
		10035	10276 5a94 F594 asr r15
		10036	10277 5a96 E794 ror r14
		10037	10278 .L835:
		10038	10279 5a98 A090 0000 lds r10,Ki
		10039	10280 5a9c B090 0000 lds r11,(Ki)+1
		10040	10281 5aa0 9501 movw r18,r10
		10041	10282 5aa2 4427 clr r20
		10042	10283 5aa4 37FD sbrc r19,7
		10043	10284 5aa6 4095 com r20
		10044	10285 5aa8 542F mov r21,r20
		10045	10286 5aaa 8091 0000 lds r24,SummeNick
		10046	10287 5aae 9091 0000 lds r25,(SummeNick)+1
		10047	10288 5ab2 A091 0000 lds r26,(SummeNick)+2
		10048	10289 5ab6 B091 0000 lds r27,(SummeNick)+3
		10049	10290 5aba BC01 movw r22,r24
		10050	10291 5abc CD01 movw r24,r26
		10051	10292 5abe 0E94 0000 call __divmodsi4
		10052	10293 5ac2 E20E add r14,r18
		10053	10294 5ac4 F31E adc r15,r19
		10054	10295 5ac6 9090 0000 lds r9,Parameter_DynamicStability
		10055	10296 5aca 692D mov r22,r9
		10056	10297 5acc 7727 clr r23
		10057	10298 5ace 8827 clr r24
		10058	10299 5ad0 9927 clr r25
		10059	10300 5ad2 9801 movw r18,r16
		10060	10301 5ad4 17FF sbrs r17,7
		10061	10302 5ad6 00C0 rjmp .L837
		10062	10303 5ad8 2227 clr r18
		10063	10304 5ada 3327 clr r19
		10064	10305 5adc 201B sub r18,r16
		10065	10306 5ade 310B sbc r19,r17
		10066	10307 .L837:
		10067	10308 5ae0 37FF sbrs r19,7
		10068	10309 5ae2 00C0 rjmp .L838
		10069	10310 5ae4 2F5F subi r18,lo8(-(1))
		10070	10311 5ae6 3F4F sbci r19,hi8(-(1))
		10071	10312 .L838:
		10072	10313 5ae8 3595 asr r19
		10073	10314 5aea 2795 ror r18
		10074	10315 5aec A981 ldd r26,Y+1
		10075	10316 5aee BA81 ldd r27,Y+2
		10076	10317 5af0 2A0F add r18,r26
		10077	10318 5af2 3B1F adc r19,r27
		10078	10319 5af4 4427 clr r20
		10079	10320 5af6 37FD sbrc r19,7
		10080	10321 5af8 4095 com r20
		10081	10322 5afa 542F mov r21,r20
		10082	10323 5afc 0E94 0000 call __mulsi3
		10083	10324 5b00 97FF sbrs r25,7
		10084	10325 5b02 00C0 rjmp .L839
		10085	10326 5b04 615C subi r22,lo8(-(63))
		10086	10327 5b06 7F4F sbci r23,hi8(-(63))
		10087	10328 5b08 8F4F sbci r24,hlo8(-(63))
		10088	10329 5b0a 9F4F sbci r25,hhi8(-(63))
		10089	10330 .L839:
		10090	10331 5b0c 26E0 ldi r18,6
		10091	10332 5b0e 9595 1: asr r25
		10092	10333 5b10 8795 ror r24
		10093	10334 5b12 7795 ror r23
		10094	10335 5b14 6795 ror r22
		10095	10336 5b16 2A95 dec r18
		10096	10337 5b18 01F4 brne 1b
		10097	10338 5b1a 9B01 movw r18,r22
		10098	10339 5b1c 6E15 cp r22,r14
		10099	10340 5b1e 7F05 cpc r23,r15
		10100	10341 5b20 04F4 brge .L840
		10101	10342 5b22 7B01 movw r14,r22
		10102	10343 .L840:
		10103	10344 5b24 3095 com r19
		10104	10345 5b26 2195 neg r18
		10105	10346 5b28 3F4F sbci r19,lo8(-1)
		10106	10347 5b2a E216 cp r14,r18
		10107	10348 5b2c F306 cpc r15,r19
		10108	10349 5b2e 04F4 brge .L841
		10109	10350 5b30 7901 movw r14,r18
		10110	10351 .L841:
		10111	10352 5b32 8091 0000 lds r24,MesswertRoll
		10112	10353 5b36 9091 0000 lds r25,(MesswertRoll)+1
		10113	10354 5b3a 6091 0000 lds r22,StickRoll
		10114	10355 5b3e 7091 0000 lds r23,(StickRoll)+1
		10115	10356 5b42 861B sub r24,r22
		10116	10357 5b44 970B sbc r25,r23
		10117	10358 5b46 9093 0000 sts (DiffRoll)+1,r25
		10118	10359 5b4a 8093 0000 sts DiffRoll,r24
		10119	10360 5b4e 2091 0000 lds r18,SummeRoll
		10120	10361 5b52 3091 0000 lds r19,(SummeRoll)+1
		10121	10362 5b56 4091 0000 lds r20,(SummeRoll)+2
		10122	10363 5b5a 5091 0000 lds r21,(SummeRoll)+3
		10123	10364 5b5e DD20 tst r13
		10124	10365 5b60 01F0 breq .L842
		10125	10366 5b62 461A sub r4,r22
		10126	10367 5b64 570A sbc r5,r23
		10127	10368 5b66 C201 movw r24,r4
		10128	10369 5b68 AA27 clr r26
		10129	10370 5b6a 97FD sbrc r25,7
		10130	10371 5b6c A095 com r26
		10131	10372 5b6e BA2F mov r27,r26
		10132	10373 5b70 00C0 rjmp .L921
		10133	10374 .L842:
		10134	10375 5b72 AA27 clr r26
		10135	10376 5b74 97FD sbrc r25,7
		10136	10377 5b76 A095 com r26
		10137	10378 5b78 BA2F mov r27,r26
		10138	10379 .L921:
		10139	10380 5b7a 280F add r18,r24
		10140	10381 5b7c 391F adc r19,r25
		10141	10382 5b7e 4A1F adc r20,r26
		10142	10383 5b80 5B1F adc r21,r27
		10143	10384 5b82 2093 0000 sts SummeRoll,r18
		10144	10385 5b86 3093 0000 sts (SummeRoll)+1,r19
		10145	10386 5b8a 4093 0000 sts (SummeRoll)+2,r20
		10146	10387 5b8e 5093 0000 sts (SummeRoll)+3,r21
		10147	10388 5b92 8091 0000 lds r24,SummeRoll
		10148	10389 5b96 9091 0000 lds r25,(SummeRoll)+1
		10149	10390 5b9a A091 0000 lds r26,(SummeRoll)+2
		10150	10391 5b9e B091 0000 lds r27,(SummeRoll)+3
		10151	10392 5ba2 8150 subi r24,lo8(64001)
		10152	10393 5ba4 9A4F sbci r25,hi8(64001)
		10153	10394 5ba6 A040 sbci r26,hlo8(64001)
		10154	10395 5ba8 B040 sbci r27,hhi8(64001)
		10155	10396 5baa 04F0 brlt .L844
		10156	10397 5bac 80E0 ldi r24,lo8(64000)
		10157	10398 5bae 9AEF ldi r25,hi8(64000)
		10158	10399 5bb0 A0E0 ldi r26,hlo8(64000)
		10159	10400 5bb2 B0E0 ldi r27,hhi8(64000)
		10160	10401 5bb4 8093 0000 sts SummeRoll,r24
		10161	10402 5bb8 9093 0000 sts (SummeRoll)+1,r25
		10162	10403 5bbc A093 0000 sts (SummeRoll)+2,r26
		10163	10404 5bc0 B093 0000 sts (SummeRoll)+3,r27
		10164	10405 .L844:
		10165	10406 5bc4 8091 0000 lds r24,SummeRoll
		10166	10407 5bc8 9091 0000 lds r25,(SummeRoll)+1
		10167	10408 5bcc A091 0000 lds r26,(SummeRoll)+2
		10168	10409 5bd0 B091 0000 lds r27,(SummeRoll)+3
		10169	10410 5bd4 8050 subi r24,lo8(-64000)
		10170	10411 5bd6 9640 sbci r25,hi8(-64000)
		10171	10412 5bd8 AF4F sbci r26,hlo8(-64000)
		10172	10413 5bda BF4F sbci r27,hhi8(-64000)
		10173	10414 5bdc 04F4 brge .L845
		10174	10415 5bde 80E0 ldi r24,lo8(-64000)
		10175	10416 5be0 96E0 ldi r25,hi8(-64000)
		10176	10417 5be2 AFEF ldi r26,hlo8(-64000)
		10177	10418 5be4 BFEF ldi r27,hhi8(-64000)
		10178	10419 5be6 8093 0000 sts SummeRoll,r24
		10179	10420 5bea 9093 0000 sts (SummeRoll)+1,r25
		10180	10421 5bee A093 0000 sts (SummeRoll)+2,r26
		10181	10422 5bf2 B093 0000 sts (SummeRoll)+3,r27
		10182	10423 .L845:
		10183	10424 5bf6 2091 0000 lds r18,DiffRoll
		10184	10425 5bfa 3091 0000 lds r19,(DiffRoll)+1
		10185	10426 5bfe 48E0 ldi r20,lo8(8)
		10186	10427 5c00 4C15 cp r20,r12
		10187	10428 5c02 00F0 brlo .L846
		10188	10429 5c04 8C2D mov r24,r12
		10189	10430 5c06 9927 clr r25
		10190	10431 5c08 829F mul r24,r18
		10191	10432 5c0a B001 movw r22,r0
		10192	10433 5c0c 839F mul r24,r19
		10193	10434 5c0e 700D add r23,r0
		10194	10435 5c10 929F mul r25,r18
		10195	10436 5c12 700D add r23,r0
		10196	10437 5c14 1124 clr r1
		10197	10438 5c16 CB01 movw r24,r22
		10198	10439 5c18 77FD sbrc r23,7
		10199	10440 5c1a 0796 adiw r24,7
		10200	10441 .L847:
		10201	10442 5c1c 6C01 movw r12,r24
		10202	10443 5c1e B3E0 ldi r27,3
		10203	10444 5c20 D594 1: asr r13
		10204	10445 5c22 C794 ror r12
		10205	10446 5c24 BA95 dec r27
		10206	10447 5c26 01F4 brne 1b
		10207	10448 5c28 00C0 rjmp .L848
		10208	10449 .L846:
		10209	10450 5c2a C694 lsr r12
		10210	10451 5c2c 8C2D mov r24,r12
		10211	10452 5c2e 9927 clr r25
		10212	10453 5c30 829F mul r24,r18
		10213	10454 5c32 D001 movw r26,r0
		10214	10455 5c34 839F mul r24,r19
		10215	10456 5c36 B00D add r27,r0
		10216	10457 5c38 929F mul r25,r18
		10217	10458 5c3a B00D add r27,r0
		10218	10459 5c3c 1124 clr r1
		10219	10460 5c3e CD01 movw r24,r26
		10220	10461 5c40 B7FD sbrc r27,7
		10221	10462 5c42 0396 adiw r24,3
		10222	10463 .L849:
		10223	10464 5c44 6C01 movw r12,r24
		10224	10465 5c46 D594 asr r13
		10225	10466 5c48 C794 ror r12
		10226	10467 5c4a D594 asr r13
		10227	10468 5c4c C794 ror r12
		10228	10469 .L848:
		10229	10470 5c4e 9501 movw r18,r10
		10230	10471 5c50 4427 clr r20
		10231	10472 5c52 37FD sbrc r19,7
		10232	10473 5c54 4095 com r20
		10233	10474 5c56 542F mov r21,r20
		10234	10475 5c58 8091 0000 lds r24,SummeRoll
		10235	10476 5c5c 9091 0000 lds r25,(SummeRoll)+1
		10236	10477 5c60 A091 0000 lds r26,(SummeRoll)+2
		10237	10478 5c64 B091 0000 lds r27,(SummeRoll)+3
		10238	10479 5c68 BC01 movw r22,r24
		10239	10480 5c6a CD01 movw r24,r26
		10240	10481 5c6c 0E94 0000 call __divmodsi4
		10241	10482 5c70 C20E add r12,r18
		10242	10483 5c72 D31E adc r13,r19
		10243	10484 5c74 692D mov r22,r9
		10244	10485 5c76 7727 clr r23
		10245	10486 5c78 8827 clr r24
		10246	10487 5c7a 9927 clr r25
		10247	10488 5c7c 9801 movw r18,r16
		10248	10489 5c7e 17FF sbrs r17,7
		10249	10490 5c80 00C0 rjmp .L850
		10250	10491 5c82 2227 clr r18
		10251	10492 5c84 3327 clr r19
		10252	10493 5c86 201B sub r18,r16
		10253	10494 5c88 310B sbc r19,r17
		10254	10495 .L850:
		10255	10496 5c8a 37FF sbrs r19,7
		10256	10497 5c8c 00C0 rjmp .L851
		10257	10498 5c8e 2F5F subi r18,lo8(-(1))
		10258	10499 5c90 3F4F sbci r19,hi8(-(1))
		10259	10500 .L851:
		10260	10501 5c92 3595 asr r19
		10261	10502 5c94 2795 ror r18
		10262	10503 5c96 E981 ldd r30,Y+1
		10263	10504 5c98 FA81 ldd r31,Y+2
		10264	10505 5c9a 2E0F add r18,r30
		10265	10506 5c9c 3F1F adc r19,r31
		10266	10507 5c9e 4427 clr r20
		10267	10508 5ca0 37FD sbrc r19,7
		10268	10509 5ca2 4095 com r20
		10269	10510 5ca4 542F mov r21,r20
		10270	10511 5ca6 0E94 0000 call __mulsi3
		10271	10512 5caa 97FF sbrs r25,7
		10272	10513 5cac 00C0 rjmp .L852
		10273	10514 5cae 615C subi r22,lo8(-(63))
		10274	10515 5cb0 7F4F sbci r23,hi8(-(63))
		10275	10516 5cb2 8F4F sbci r24,hlo8(-(63))
		10276	10517 5cb4 9F4F sbci r25,hhi8(-(63))
		10277	10518 .L852:
		10278	10519 5cb6 E6E0 ldi r30,6
		10279	10520 5cb8 9595 1: asr r25
		10280	10521 5cba 8795 ror r24
		10281	10522 5cbc 7795 ror r23
		10282	10523 5cbe 6795 ror r22
		10283	10524 5cc0 EA95 dec r30
		10284	10525 5cc2 01F4 brne 1b
		10285	10526 5cc4 9B01 movw r18,r22
		10286	10527 5cc6 6C15 cp r22,r12
		10287	10528 5cc8 7D05 cpc r23,r13
		10288	10529 5cca 04F4 brge .L853
		10289	10530 5ccc 6B01 movw r12,r22
		10290	10531 .L853:
		10291	10532 5cce 3095 com r19
		10292	10533 5cd0 2195 neg r18
		10293	10534 5cd2 3F4F sbci r19,lo8(-1)
		10294	10535 5cd4 C216 cp r12,r18
		10295	10536 5cd6 D306 cpc r13,r19
		10296	10537 5cd8 04F4 brge .L854
		10297	10538 5cda 6901 movw r12,r18
		10298	10539 .L854:
		10299	10540 5cdc 8091 0000 lds r24,MIN_GAS
		10300	10541 5ce0 282E mov r2,r24
		10301	10542 5ce2 3324 clr r3
		10302	10543 5ce4 5090 0000 lds r5,EE_Parameter+101
		10303	10544 5ce8 60E0 ldi r22,lo8(Motor)
		10304	10545 5cea 862E mov r8,r22
		10305	10546 5cec 60E0 ldi r22,hi8(Motor)
		10306	10547 5cee 962E mov r9,r22
		10307	10548 5cf0 50E0 ldi r21,lo8(Mixer+13)
		10308	10549 5cf2 A52E mov r10,r21
		10309	10550 5cf4 50E0 ldi r21,hi8(Mixer+13)
		10310	10551 5cf6 B52E mov r11,r21
		10311	10552 5cf8 4BE0 ldi r20,lo8(11)
		10312	10553 5cfa 442E mov r4,r20
		10313	10554 5cfc 30E0 ldi r19,lo8(tmp_motorwert)
		10314	10555 5cfe 632E mov r6,r19
		10315	10556 5d00 30E0 ldi r19,hi8(tmp_motorwert)
		10316	10557 5d02 732E mov r7,r19
		10317	10558 .L889:
		10318	10559 5d04 D501 movw r26,r10
		10319	10560 5d06 2C91 ld r18,X
		10320	10561 5d08 1216 cp __zero_reg__,r18
		10321	10562 5d0a 04F0 brlt .+2
		10322	10563 5d0c 00C0 rjmp .L858
		10323	10564 5d0e 2034 cpi r18,lo8(64)
		10324	10565 5d10 01F4 brne .L859
		10325	10566 5d12 E981 ldd r30,Y+1
		10326	10567 5d14 FA81 ldd r31,Y+2
		10327	10568 5d16 FF8B std Y+23,r31
		10328	10569 5d18 EE8B std Y+22,r30
		10329	10570 5d1a 00C0 rjmp .L860
		10330	10571 .L859:
		10331	10572 5d1c 4981 ldd r20,Y+1
		10332	10573 5d1e 5A81 ldd r21,Y+2
		10333	10574 5d20 CA01 movw r24,r20
		10334	10575 5d22 AA27 clr r26
		10335	10576 5d24 97FD sbrc r25,7
		10336	10577 5d26 A095 com r26
		10337	10578 5d28 BA2F mov r27,r26
		10338	10579 5d2a 3327 clr r19
		10339	10580 5d2c 27FD sbrc r18,7
		10340	10581 5d2e 3095 com r19
		10341	10582 5d30 432F mov r20,r19
		10342	10583 5d32 532F mov r21,r19
		10343	10584 5d34 BC01 movw r22,r24
		10344	10585 5d36 CD01 movw r24,r26
		10345	10586 5d38 0E94 0000 call __mulsi3
		10346	10587 5d3c 97FF sbrs r25,7
		10347	10588 5d3e 00C0 rjmp .L861
		10348	10589 5d40 615C subi r22,lo8(-(63))
		10349	10590 5d42 7F4F sbci r23,hi8(-(63))
		10350	10591 5d44 8F4F sbci r24,hlo8(-(63))
		10351	10592 5d46 9F4F sbci r25,hhi8(-(63))
		10352	10593 .L861:
		10353	10594 5d48 26E0 ldi r18,6
		10354	10595 5d4a 9595 1: asr r25
		10355	10596 5d4c 8795 ror r24
		10356	10597 5d4e 7795 ror r23
		10357	10598 5d50 6795 ror r22
		10358	10599 5d52 2A95 dec r18
		10359	10600 5d54 01F4 brne 1b
		10360	10601 5d56 7F8B std Y+23,r23
		10361	10602 5d58 6E8B std Y+22,r22
		10362	10603 .L860:
		10363	10604 5d5a F501 movw r30,r10
		10364	10605 5d5c 2181 ldd r18,Z+1
		10365	10606 5d5e 2034 cpi r18,lo8(64)
		10366	10607 5d60 01F4 brne .L862
		10367	10608 5d62 2E89 ldd r18,Y+22
		10368	10609 5d64 3F89 ldd r19,Y+23
		10369	10610 5d66 2E0D add r18,r14
		10370	10611 5d68 3F1D adc r19,r15
		10371	10612 5d6a 3F8B std Y+23,r19
		10372	10613 5d6c 2E8B std Y+22,r18
		10373	10614 5d6e 00C0 rjmp .L863
		10374	10615 .L862:
		10375	10616 5d70 203C cpi r18,lo8(-64)
		10376	10617 5d72 01F4 brne .L864
		10377	10618 5d74 4E89 ldd r20,Y+22
		10378	10619 5d76 5F89 ldd r21,Y+23
		10379	10620 5d78 4E19 sub r20,r14
		10380	10621 5d7a 5F09 sbc r21,r15
		10381	10622 5d7c 5F8B std Y+23,r21
		10382	10623 5d7e 4E8B std Y+22,r20
		10383	10624 5d80 00C0 rjmp .L863
		10384	10625 .L864:
		10385	10626 5d82 C701 movw r24,r14
		10386	10627 5d84 AA27 clr r26
		10387	10628 5d86 97FD sbrc r25,7
		10388	10629 5d88 A095 com r26
		10389	10630 5d8a BA2F mov r27,r26
		10390	10631 5d8c 3327 clr r19
		10391	10632 5d8e 27FD sbrc r18,7
		10392	10633 5d90 3095 com r19
		10393	10634 5d92 432F mov r20,r19
		10394	10635 5d94 532F mov r21,r19
		10395	10636 5d96 BC01 movw r22,r24
		10396	10637 5d98 CD01 movw r24,r26
		10397	10638 5d9a 0E94 0000 call __mulsi3
		10398	10639 5d9e 97FF sbrs r25,7
		10399	10640 5da0 00C0 rjmp .L866
		10400	10641 5da2 615C subi r22,lo8(-(63))
		10401	10642 5da4 7F4F sbci r23,hi8(-(63))
		10402	10643 5da6 8F4F sbci r24,hlo8(-(63))
		10403	10644 5da8 9F4F sbci r25,hhi8(-(63))
		10404	10645 .L866:
		10405	10646 5daa B6E0 ldi r27,6
		10406	10647 5dac 9595 1: asr r25
		10407	10648 5dae 8795 ror r24
		10408	10649 5db0 7795 ror r23
		10409	10650 5db2 6795 ror r22
		10410	10651 5db4 BA95 dec r27
		10411	10652 5db6 01F4 brne 1b
		10412	10653 5db8 AE89 ldd r26,Y+22
		10413	10654 5dba BF89 ldd r27,Y+23
		10414	10655 5dbc A60F add r26,r22
		10415	10656 5dbe B71F adc r27,r23
		10416	10657 5dc0 BF8B std Y+23,r27
		10417	10658 5dc2 AE8B std Y+22,r26
		10418	10659 .L863:
		10419	10660 5dc4 F501 movw r30,r10
		10420	10661 5dc6 2281 ldd r18,Z+2
		10421	10662 5dc8 2034 cpi r18,lo8(64)
		10422	10663 5dca 01F4 brne .L867
		10423	10664 5dcc 2E89 ldd r18,Y+22
		10424	10665 5dce 3F89 ldd r19,Y+23
		10425	10666 5dd0 2C0D add r18,r12
		10426	10667 5dd2 3D1D adc r19,r13
		10427	10668 5dd4 3F8B std Y+23,r19
		10428	10669 5dd6 2E8B std Y+22,r18
		10429	10670 5dd8 00C0 rjmp .L868
		10430	10671 .L867:
		10431	10672 5dda 203C cpi r18,lo8(-64)
		10432	10673 5ddc 01F4 brne .L869
		10433	10674 5dde 4E89 ldd r20,Y+22
		10434	10675 5de0 5F89 ldd r21,Y+23
		10435	10676 5de2 4C19 sub r20,r12
		10436	10677 5de4 5D09 sbc r21,r13
		10437	10678 5de6 5F8B std Y+23,r21
		10438	10679 5de8 4E8B std Y+22,r20
		10439	10680 5dea 00C0 rjmp .L868
		10440	10681 .L869:
		10441	10682 5dec C601 movw r24,r12
		10442	10683 5dee AA27 clr r26
		10443	10684 5df0 97FD sbrc r25,7
		10444	10685 5df2 A095 com r26
		10445	10686 5df4 BA2F mov r27,r26
		10446	10687 5df6 3327 clr r19
		10447	10688 5df8 27FD sbrc r18,7
		10448	10689 5dfa 3095 com r19
		10449	10690 5dfc 432F mov r20,r19
		10450	10691 5dfe 532F mov r21,r19
		10451	10692 5e00 BC01 movw r22,r24
		10452	10693 5e02 CD01 movw r24,r26
		10453	10694 5e04 0E94 0000 call __mulsi3
		10454	10695 5e08 97FF sbrs r25,7
		10455	10696 5e0a 00C0 rjmp .L871
		10456	10697 5e0c 615C subi r22,lo8(-(63))
		10457	10698 5e0e 7F4F sbci r23,hi8(-(63))
		10458	10699 5e10 8F4F sbci r24,hlo8(-(63))
		10459	10700 5e12 9F4F sbci r25,hhi8(-(63))
		10460	10701 .L871:
		10461	10702 5e14 A6E0 ldi r26,6
		10462	10703 5e16 9595 1: asr r25
		10463	10704 5e18 8795 ror r24
		10464	10705 5e1a 7795 ror r23
		10465	10706 5e1c 6795 ror r22
		10466	10707 5e1e AA95 dec r26
		10467	10708 5e20 01F4 brne 1b
		10468	10709 5e22 AE89 ldd r26,Y+22
		10469	10710 5e24 BF89 ldd r27,Y+23
		10470	10711 5e26 A60F add r26,r22
		10471	10712 5e28 B71F adc r27,r23
		10472	10713 5e2a BF8B std Y+23,r27
		10473	10714 5e2c AE8B std Y+22,r26
		10474	10715 .L868:
		10475	10716 5e2e F501 movw r30,r10
		10476	10717 5e30 2381 ldd r18,Z+3
		10477	10718 5e32 2034 cpi r18,lo8(64)
		10478	10719 5e34 01F4 brne .L872
		10479	10720 5e36 2E89 ldd r18,Y+22
		10480	10721 5e38 3F89 ldd r19,Y+23
		10481	10722 5e3a 200F add r18,r16
		10482	10723 5e3c 311F adc r19,r17
		10483	10724 5e3e 3F8B std Y+23,r19
		10484	10725 5e40 2E8B std Y+22,r18
		10485	10726 5e42 00C0 rjmp .L873
		10486	10727 .L872:
		10487	10728 5e44 203C cpi r18,lo8(-64)
		10488	10729 5e46 01F4 brne .L874
		10489	10730 5e48 4E89 ldd r20,Y+22
		10490	10731 5e4a 5F89 ldd r21,Y+23
		10491	10732 5e4c 401B sub r20,r16
		10492	10733 5e4e 510B sbc r21,r17
		10493	10734 5e50 5F8B std Y+23,r21
		10494	10735 5e52 4E8B std Y+22,r20
		10495	10736 5e54 00C0 rjmp .L873
		10496	10737 .L874:
		10497	10738 5e56 C801 movw r24,r16
		10498	10739 5e58 AA27 clr r26
		10499	10740 5e5a 97FD sbrc r25,7
		10500	10741 5e5c A095 com r26
		10501	10742 5e5e BA2F mov r27,r26
		10502	10743 5e60 3327 clr r19
		10503	10744 5e62 27FD sbrc r18,7
		10504	10745 5e64 3095 com r19
		10505	10746 5e66 432F mov r20,r19
		10506	10747 5e68 532F mov r21,r19
		10507	10748 5e6a BC01 movw r22,r24
		10508	10749 5e6c CD01 movw r24,r26
		10509	10750 5e6e 0E94 0000 call __mulsi3
		10510	10751 5e72 97FF sbrs r25,7
		10511	10752 5e74 00C0 rjmp .L876
		10512	10753 5e76 615C subi r22,lo8(-(63))
		10513	10754 5e78 7F4F sbci r23,hi8(-(63))
		10514	10755 5e7a 8F4F sbci r24,hlo8(-(63))
		10515	10756 5e7c 9F4F sbci r25,hhi8(-(63))
		10516	10757 .L876:
		10517	10758 5e7e F6E0 ldi r31,6
		10518	10759 5e80 9595 1: asr r25
		10519	10760 5e82 8795 ror r24
		10520	10761 5e84 7795 ror r23
		10521	10762 5e86 6795 ror r22
		10522	10763 5e88 FA95 dec r31
		10523	10764 5e8a 01F4 brne 1b
		10524	10765 5e8c AE89 ldd r26,Y+22
		10525	10766 5e8e BF89 ldd r27,Y+23
		10526	10767 5e90 A60F add r26,r22
		10527	10768 5e92 B71F adc r27,r23
		10528	10769 5e94 BF8B std Y+23,r27
		10529	10770 5e96 AE8B std Y+22,r26
		10530	10771 .L873:
		10531	10772 5e98 F301 movw r30,r6
		10532	10773 5e9a 8081 ld r24,Z
		10533	10774 5e9c 9181 ldd r25,Z+1
		10534	10775 5e9e 2E89 ldd r18,Y+22
		10535	10776 5ea0 3F89 ldd r19,Y+23
		10536	10777 5ea2 8217 cp r24,r18
		10537	10778 5ea4 9307 cpc r25,r19
		10538	10779 5ea6 04F4 brge .L877
		10539	10780 5ea8 B901 movw r22,r18
		10540	10781 5eaa 680F add r22,r24
		10541	10782 5eac 791F adc r23,r25
		10542	10783 5eae 77FF sbrs r23,7
		10543	10784 5eb0 00C0 rjmp .L878
		10544	10785 5eb2 6F5F subi r22,lo8(-(1))
		10545	10786 5eb4 7F4F sbci r23,hi8(-(1))
		10546	10787 .L878:
		10547	10788 5eb6 7595 asr r23
		10548	10789 5eb8 6795 ror r22
		10549	10790 5eba 7F8B std Y+23,r23
		10550	10791 5ebc 6E8B std Y+22,r22
		10551	10792 5ebe 00C0 rjmp .L879
		10552	10793 .L877:
		10553	10794 5ec0 5520 tst r5
		10554	10795 5ec2 01F4 brne .L880
		10555	10796 5ec4 4E89 ldd r20,Y+22
		10556	10797 5ec6 5F89 ldd r21,Y+23
		10557	10798 5ec8 440F add r20,r20
		10558	10799 5eca 551F adc r21,r21
		10559	10800 5ecc 481B sub r20,r24
		10560	10801 5ece 590B sbc r21,r25
		10561	10802 5ed0 5F8B std Y+23,r21
		10562	10803 5ed2 4E8B std Y+22,r20
		10563	10804 5ed4 00C0 rjmp .L879
		10564	10805 .L880:
		10565	10806 5ed6 51E0 ldi r21,lo8(1)
		10566	10807 5ed8 5515 cp r21,r5
		10567	10808 5eda 00F4 brsh .L879
		10568	10809 5edc 252D mov r18,r5
		10569	10810 5ede 3327 clr r19
		10570	10811 5ee0 6E89 ldd r22,Y+22
		10571	10812 5ee2 7F89 ldd r23,Y+23
		10572	10813 5ee4 861B sub r24,r22
		10573	10814 5ee6 970B sbc r25,r23
		10574	10815 5ee8 B901 movw r22,r18
		10575	10816 5eea 0E94 0000 call __divmodhi4
		10576	10817 5eee AE89 ldd r26,Y+22
		10577	10818 5ef0 BF89 ldd r27,Y+23
		10578	10819 5ef2 A60F add r26,r22
		10579	10820 5ef4 B71F adc r27,r23
		10580	10821 5ef6 BF8B std Y+23,r27
		10581	10822 5ef8 AE8B std Y+22,r26
		10582	10823 .L879:
		10583	10824 5efa C101 movw r24,r2
		10584	10825 5efc 880F lsl r24
		10585	10826 5efe 991F rol r25
		10586	10827 5f00 880F lsl r24
		10587	10828 5f02 991F rol r25
		10588	10829 5f04 EE89 ldd r30,Y+22
		10589	10830 5f06 FF89 ldd r31,Y+23
		10590	10831 5f08 8E17 cp r24,r30
		10591	10832 5f0a 9F07 cpc r25,r31
		10592	10833 5f0c 04F4 brge .L922
		10593	10834 5f0e FD89 ldd r31,Y+21
		10594	10835 5f10 8F2F mov r24,r31
		10595	10836 5f12 9927 clr r25
		10596	10837 5f14 880F lsl r24
		10597	10838 5f16 991F rol r25
		10598	10839 5f18 880F lsl r24
		10599	10840 5f1a 991F rol r25
		10600	10841 5f1c 2E89 ldd r18,Y+22
		10601	10842 5f1e 3F89 ldd r19,Y+23
		10602	10843 5f20 2817 cp r18,r24
		10603	10844 5f22 3907 cpc r19,r25
		10604	10845 5f24 04F0 brlt .L884
		10605	10846 .L922:
		10606	10847 5f26 9F8B std Y+23,r25
		10607	10848 5f28 8E8B std Y+22,r24
		10608	10849 .L884:
		10609	10850 5f2a 8E89 ldd r24,Y+22
		10610	10851 5f2c 9F89 ldd r25,Y+23
		10611	10852 5f2e 97FD sbrc r25,7
		10612	10853 5f30 0396 adiw r24,3
		10613	10854 .L886:
		10614	10855 5f32 9595 asr r25
		10615	10856 5f34 8795 ror r24
		10616	10857 5f36 9595 asr r25
		10617	10858 5f38 8795 ror r24
		10618	10859 5f3a F401 movw r30,r8
		10619	10860 5f3c 8183 std Z+1,r24
		10620	10861 5f3e 880F lsl r24
		10621	10862 5f40 991F rol r25
		10622	10863 5f42 880F lsl r24
		10623	10864 5f44 991F rol r25
		10624	10865 5f46 2E89 ldd r18,Y+22
		10625	10866 5f48 3F89 ldd r19,Y+23
		10626	10867 5f4a 281B sub r18,r24
		10627	10868 5f4c 390B sbc r19,r25
		10628	10869 5f4e C901 movw r24,r18
		10629	10870 5f50 880F lsl r24
		10630	10871 5f52 8283 std Z+2,r24
		10631	10872 5f54 EE89 ldd r30,Y+22
		10632	10873 5f56 FF89 ldd r31,Y+23
		10633	10874 5f58 D301 movw r26,r6
		10634	10875 5f5a ED93 st X+,r30
		10635	10876 5f5c FC93 st X,r31
		10636	10877 5f5e 00C0 rjmp .L857
		10637	10878 .L858:
		10638	10879 5f60 F401 movw r30,r8
		10639	10880 5f62 1182 std Z+1,__zero_reg__
		10640	10881 5f64 1282 std Z+2,__zero_reg__
		10641	10882 .L857:
		10642	10883 5f66 4A94 dec r4
		10643	10884 5f68 22E0 ldi r18,lo8(2)
		10644	10885 5f6a 30E0 ldi r19,hi8(2)
		10645	10886 5f6c 620E add r6,r18
		10646	10887 5f6e 731E adc r7,r19
		10647	10888 5f70 44E0 ldi r20,lo8(4)
		10648	10889 5f72 50E0 ldi r21,hi8(4)
		10649	10890 5f74 A40E add r10,r20
		10650	10891 5f76 B51E adc r11,r21
		10651	10892 5f78 68E0 ldi r22,lo8(8)
		10652	10893 5f7a 70E0 ldi r23,hi8(8)
		10653	10894 5f7c 860E add r8,r22
		10654	10895 5f7e 971E adc r9,r23
		10655	10896 5f80 47FE sbrs r4,7
		10656	10897 5f82 00C0 rjmp .L889
		10657	10898 /* epilogue: frame size=23 */
		10658	10899 5f84 E2E1 ldi r30,18
		10659	10900 5f86 C95E subi r28,-23
		10660	10901 5f88 0C94 0000 jmp __epilogue_restores__+0
		10661	10902 /* epilogue end (size=4) */
		10662	10903 /* function MotorRegler size 8305 (8295) */
		10663	10905 .comm TrimNick,2,1
		10664	10906 .comm TrimRoll,2,1
		10665	10907 .comm ErsatzKompass,4,1
		10666	10908 .comm ErsatzKompassInGrad,2,1
		10667	10909 .comm MesswertNick,2,1
		10668	10910 .comm MesswertRoll,2,1
		10669	10911 .comm MesswertGier,2,1
		10670	10912 .comm Mittelwert_AccNick,2,1
		10671	10913 .comm Mittelwert_AccRoll,2,1
		10672	10914 .comm NaviAccNick,2,1
		10673	10915 .comm NaviAccRoll,2,1
		10674	10916 .comm h,1,1
		10675	10917 .comm m,1,1
		10676	10918 .comm s,1,1
		10677	10919 .comm DiffNick,2,1
		10678	10920 .comm DiffRoll,2,1
		10679	10921 .comm Parameter_Servo3,1,1
		10680	10922 .comm Parameter_Servo4,1,1
		10681	10923 .comm Parameter_Servo5,1,1
		10682	10924 .comm Parameter_J16Bitmask,1,1
		10683	10925 .comm Parameter_J16Timing,1,1
		10684	10926 .comm Parameter_J17Bitmask,1,1
		10685	10927 .comm Parameter_J17Timing,1,1
		10686	10928 .comm Parameter_GlobalConfig,1,1
		10687	10929 .comm Parameter_ExtraConfig,1,1
		10688	10930 .comm MesswertGierBias,2,1
		10689	10931 .comm RohMesswertNick,2,1
		10690	10932 .comm RohMesswertRoll,2,1
		10691	10933 .comm MittelIntegralNick,4,1
		10692	10934 .comm MittelIntegralRoll,4,1
		10693	10935 .comm MittelIntegralNick2,4,1
		10694	10936 .comm MittelIntegralRoll2,4,1
		10695	10937 .comm MAX_GAS,1,1
		10696	10938 .comm MIN_GAS,1,1
		10697	10939 .comm GyroFaktor,1,1
		10698	10940 .comm GyroFaktorGier,1,1
		10699	10941 .comm IntegralFaktor,1,1
		10700	10942 .comm IntegralFaktorGier,1,1
		10701	10943 .comm Parameter_NaviGpsModeControl,1,1
		10702	10944 .comm Parameter_NaviGpsGain,1,1
		10703	10945 .comm Parameter_NaviGpsP,1,1
		10704	10946 .comm Parameter_NaviGpsI,1,1
		10705	10947 .comm Parameter_NaviGpsD,1,1
		10706	10948 .comm Parameter_NaviGpsACC,1,1
		10707	10949 .comm Parameter_NaviOperatingRadius,1,1
		10708	10950 .comm Parameter_NaviWindCorrection,1,1
		10709	10951 .comm Parameter_NaviSpeedCompensation,1,1
		10710	10952 .comm Parameter_ExternalControl,1,1
		10711	10953 .comm Parameter_MaximumAltitude,1,1
		10712	10954 .comm KopplungsteilNickRoll,2,1
		10713	10955 .comm KopplungsteilRollNick,2,1
		10714	10956 .comm tmp_motorwert,24,1
		10715	10957 /* File "fc.c": code 12397 = 0x306d (12336), prologues 31, epilogues 30 */
		10716	DEFINED SYMBOLS
		10717	ABS:00000000 fc.c
		10718	C:\Temp/ccfR0jIT.s:3 ABS:0000003f __SREG__
		10719	C:\Temp/ccfR0jIT.s:4 ABS:0000003e __SP_H__
		10720	C:\Temp/ccfR0jIT.s:5 ABS:0000003d __SP_L__
		10721	C:\Temp/ccfR0jIT.s:6 ABS:00000000 __tmp_reg__
		10722	C:\Temp/ccfR0jIT.s:7 ABS:00000001 __zero_reg__
		10723	C:\Temp/ccfR0jIT.s:15 .bss:00000000 GasIsZeroCnt
		10724	C:\Temp/ccfR0jIT.s:21 .bss:00000002 HooverGasEmergencyPercent
		10725	C:\Temp/ccfR0jIT.s:27 .data:00000000 VarioCharacter
		10726	C:\Temp/ccfR0jIT.s:32 .data:00000001 GIER_GRAD_FAKTOR
		10727	C:\Temp/ccfR0jIT.s:39 .bss:00000004 FC_StatusFlags2
		10728	C:\Temp/ccfR0jIT.s:45 .bss:00000005 FC_StatusFlags
		10729	C:\Temp/ccfR0jIT.s:51 .bss:00000006 modell_fliegt
		10730	C:\Temp/ccfR0jIT.s:57 .bss:00000008 MaxStickRoll
		10731	C:\Temp/ccfR0jIT.s:63 .bss:0000000a MaxStickNick
		10732	C:\Temp/ccfR0jIT.s:69 .data:00000005 ExternHoehenValue
		10733	C:\Temp/ccfR0jIT.s:76 .bss:0000000c ExternStickGier
		10734	C:\Temp/ccfR0jIT.s:82 .bss:0000000e ExternStickRoll
		10735	C:\Temp/ccfR0jIT.s:88 .bss:00000010 ExternStickNick
		10736	C:\Temp/ccfR0jIT.s:94 .data:00000007 sintab
		10737	C:\Temp/ccfR0jIT.s:131 .bss:00000012 CareFree
		10738	C:\Temp/ccfR0jIT.s:137 .data:00000026 Parameter_DynamicStability
		10739	C:\Temp/ccfR0jIT.s:142 .data:00000027 Parameter_CouplingYawCorrection
		10740	C:\Temp/ccfR0jIT.s:147 .data:00000028 Parameter_AchsKopplung2
		10741	C:\Temp/ccfR0jIT.s:152 .data:00000029 Parameter_AchsKopplung1
		10742	C:\Temp/ccfR0jIT.s:157 .data:0000002a Parameter_LoopGasLimit
		10743	C:\Temp/ccfR0jIT.s:162 .data:0000002b Parameter_ServoRollComp
		10744	C:\Temp/ccfR0jIT.s:167 .data:0000002c Parameter_ServoNickComp
		10745	C:\Temp/ccfR0jIT.s:172 .data:0000002d Parameter_ServoRollControl
		10746	C:\Temp/ccfR0jIT.s:177 .data:0000002e Parameter_ServoNickControl
		10747	C:\Temp/ccfR0jIT.s:184 .bss:00000013 Parameter_UserParam8
		10748	C:\Temp/ccfR0jIT.s:190 .bss:00000014 Parameter_UserParam7
		10749	C:\Temp/ccfR0jIT.s:196 .bss:00000015 Parameter_UserParam6
		10750	C:\Temp/ccfR0jIT.s:202 .bss:00000016 Parameter_UserParam5
		10751	C:\Temp/ccfR0jIT.s:208 .bss:00000017 Parameter_UserParam4
		10752	C:\Temp/ccfR0jIT.s:214 .bss:00000018 Parameter_UserParam3
		10753	C:\Temp/ccfR0jIT.s:220 .bss:00000019 Parameter_UserParam2
		10754	C:\Temp/ccfR0jIT.s:226 .bss:0000001a Parameter_UserParam1
		10755	C:\Temp/ccfR0jIT.s:232 .data:0000002f Parameter_I_Faktor
		10756	C:\Temp/ccfR0jIT.s:237 .data:00000030 Parameter_Gier_P
		10757	C:\Temp/ccfR0jIT.s:242 .data:00000031 Parameter_Gyro_Gier_I
		10758	C:\Temp/ccfR0jIT.s:247 .data:00000032 Parameter_Gyro_Gier_P
		10759	C:\Temp/ccfR0jIT.s:252 .data:00000033 Parameter_Gyro_I
		10760	C:\Temp/ccfR0jIT.s:257 .data:00000034 Parameter_Gyro_P
		10761	C:\Temp/ccfR0jIT.s:262 .data:00000035 Parameter_Gyro_D
		10762	C:\Temp/ccfR0jIT.s:267 .data:00000036 Parameter_Hoehe_GPS_Z
		10763	C:\Temp/ccfR0jIT.s:272 .data:00000037 Parameter_KompassWirkung
		10764	C:\Temp/ccfR0jIT.s:277 .data:00000038 Parameter_Hoehe_ACC_Wirkung
		10765	C:\Temp/ccfR0jIT.s:282 .data:00000039 Parameter_Hoehe_P
		10766	C:\Temp/ccfR0jIT.s:287 .data:0000003a Parameter_HoehenSchalter
		10767	C:\Temp/ccfR0jIT.s:292 .data:0000003b Parameter_Luftdruck_D
		10768	C:\Temp/ccfR0jIT.s:299 .bss:0000001b Looping_Oben
		10769	C:\Temp/ccfR0jIT.s:305 .bss:0000001c Looping_Unten
		10770	C:\Temp/ccfR0jIT.s:311 .bss:0000001d Looping_Rechts
		10771	C:\Temp/ccfR0jIT.s:317 .bss:0000001e Looping_Links
		10772	C:\Temp/ccfR0jIT.s:323 .bss:0000001f Looping_Roll
		10773	C:\Temp/ccfR0jIT.s:329 .bss:00000020 Looping_Nick
		10774	C:\Temp/ccfR0jIT.s:335 .data:0000003c Ki
		10775	C:\Temp/ccfR0jIT.s:342 .bss:00000021 HoverGas
		10776	C:\Temp/ccfR0jIT.s:348 .bss:00000023 LageKorrekturNick
		10777	C:\Temp/ccfR0jIT.s:354 .bss:00000025 LageKorrekturRoll
		10778	C:\Temp/ccfR0jIT.s:360 .bss:00000027 NeueKompassRichtungMerken
		10779	C:\Temp/ccfR0jIT.s:366 .bss:00000028 CalibrationDone
		10780	C:\Temp/ccfR0jIT.s:372 .bss:00000029 CompassGierSetpoint
		10781	C:\Temp/ccfR0jIT.s:378 .bss:0000002b WaypointTrimming
		10782	C:\Temp/ccfR0jIT.s:384 .data:0000003e carefree_old
		10783	C:\Temp/ccfR0jIT.s:391 .bss:0000002c FromNC_AltitudeSpeed
		10784	C:\Temp/ccfR0jIT.s:397 .bss:0000002d FromNC_AltitudeSetpoint
		10785	C:\Temp/ccfR0jIT.s:403 .bss:00000031 AltitudeSetpointTrimming
		10786	C:\Temp/ccfR0jIT.s:409 .bss:00000033 SollHoehe
		10787	C:\Temp/ccfR0jIT.s:415 .bss:00000037 HoehenWert
		10788	C:\Temp/ccfR0jIT.s:421 .bss:0000003b StartTrigger
		10789	C:\Temp/ccfR0jIT.s:427 .bss:0000003c MotorenEin
		10790	C:\Temp/ccfR0jIT.s:433 .bss:0000003d SenderOkay
		10791	C:\Temp/ccfR0jIT.s:439 .bss:0000003e Poti
		10792	C:\Temp/ccfR0jIT.s:445 .bss:00000047 StickGas
		10793	C:\Temp/ccfR0jIT.s:451 .bss:00000049 StickGier
		10794	C:\Temp/ccfR0jIT.s:457 .bss:0000004b StickRoll
		10795	C:\Temp/ccfR0jIT.s:463 .bss:0000004d StickNick
		10796	C:\Temp/ccfR0jIT.s:469 .data:0000003f HoverGasMax
		10797	C:\Temp/ccfR0jIT.s:476 .bss:0000004f HoverGasMin
		10798	C:\Temp/ccfR0jIT.s:482 .data:00000041 StickGasHover
		10799	C:\Temp/ccfR0jIT.s:489 .bss:00000051 GierGyroFehler
		10800	C:\Temp/ccfR0jIT.s:495 .data:00000043 Umschlag180Roll
		10801	C:\Temp/ccfR0jIT.s:500 .data:00000047 Umschlag180Nick
		10802	C:\Temp/ccfR0jIT.s:507 .bss:00000053 TrichterFlug
		10803	C:\Temp/ccfR0jIT.s:513 .bss:00000054 HoehenReglerAktiv
		10804	C:\Temp/ccfR0jIT.s:519 .data:0000004b KompassSignalSchlecht
		10805	C:\Temp/ccfR0jIT.s:524 .data:0000004d KompassFusion
		10806	C:\Temp/ccfR0jIT.s:529 .data:0000004e CalculateCompassTimer
		10807	C:\Temp/ccfR0jIT.s:536 .bss:00000055 KompassSollWert
		10808	C:\Temp/ccfR0jIT.s:542 .data:0000004f KompassValue
		10809	C:\Temp/ccfR0jIT.s:549 .bss:00000057 Mess_Integral_Hoch
		10810	C:\Temp/ccfR0jIT.s:555 .bss:0000005b SummeRoll
		10811	C:\Temp/ccfR0jIT.s:561 .bss:0000005f SummeNick
		10812	C:\Temp/ccfR0jIT.s:567 .bss:00000063 Mess_Integral_Gier2
		10813	C:\Temp/ccfR0jIT.s:573 .bss:00000067 Mess_Integral_Gier
		10814	C:\Temp/ccfR0jIT.s:579 .bss:0000006b Mess_IntegralRoll2
		10815	C:\Temp/ccfR0jIT.s:585 .bss:0000006f Mess_IntegralRoll
		10816	C:\Temp/ccfR0jIT.s:591 .bss:00000073 Mess_IntegralNick2
		10817	C:\Temp/ccfR0jIT.s:597 .bss:00000077 Mess_IntegralNick
		10818	C:\Temp/ccfR0jIT.s:603 .bss:0000007b Integral_Gier
		10819	C:\Temp/ccfR0jIT.s:609 .bss:0000007f IntegralAccZ
		10820	C:\Temp/ccfR0jIT.s:615 .bss:00000083 IntegralAccRoll
		10821	C:\Temp/ccfR0jIT.s:621 .bss:00000087 IntegralAccNick
		10822	C:\Temp/ccfR0jIT.s:627 .bss:0000008b IntegralRoll2
		10823	C:\Temp/ccfR0jIT.s:633 .bss:0000008f IntegralRoll
		10824	C:\Temp/ccfR0jIT.s:639 .bss:00000093 IntegralNick2
		10825	C:\Temp/ccfR0jIT.s:645 .bss:00000097 IntegralNick
		10826	C:\Temp/ccfR0jIT.s:651 .bss:0000009b ControlHeading
		10827	C:\Temp/ccfR0jIT.s:657 .bss:0000009c NeutralAccZ
		10828	C:\Temp/ccfR0jIT.s:663 .bss:0000009e NaviCntAcc
		10829	C:\Temp/ccfR0jIT.s:669 .bss:000000a0 NeutralAccY
		10830	C:\Temp/ccfR0jIT.s:675 .bss:000000a2 NeutralAccX
		10831	C:\Temp/ccfR0jIT.s:681 .bss:000000a4 StartNeutralNick
		10832	C:\Temp/ccfR0jIT.s:687 .bss:000000a6 StartNeutralRoll
		10833	C:\Temp/ccfR0jIT.s:693 .bss:000000a8 AdNeutralGier
		10834	C:\Temp/ccfR0jIT.s:699 .bss:000000aa AdNeutralRoll
		10835	C:\Temp/ccfR0jIT.s:705 .bss:000000ac AdNeutralNick
		10836	C:\Temp/ccfR0jIT.s:711 .bss:000000ae BaroExpandActive
		10837	C:\Temp/ccfR0jIT.s:716 .text:00000000 CopyDebugValues
		10838	COM:00000002 Mittelwert_AccNick
		10839	COM:00000002 Mittelwert_AccRoll
		10840	COM:00000004 ErsatzKompass
		10841	C:\Temp/ccfR0jIT.s:912 .text:00000254 Piep
		10842	C:\Temp/ccfR0jIT.s:986 .text:000002da CalibrierMittelwert
		10843	COM:00000002 MesswertNick
		10844	COM:00000002 MesswertRoll
		10845	COM:00000002 MesswertGier
		10846	C:\Temp/ccfR0jIT.s:1128 .progmem.data:00000000 __c.35
		10847	C:\Temp/ccfR0jIT.s:1133 .text:0000041c SetNeutral
		10848	.bss:000000b0 tmpl.27
		10849	C:\Temp/ccfR0jIT.s:1641 .bss:000000b4 tmpl2.28
		10850	C:\Temp/ccfR0jIT.s:1642 .bss:000000b8 tmpl3.29
		10851	C:\Temp/ccfR0jIT.s:1643 .bss:000000bc tmpl4.30
		10852	C:\Temp/ccfR0jIT.s:1644 .bss:000000c0 oldNick.31
		10853	C:\Temp/ccfR0jIT.s:1645 .bss:000000c2 oldRoll.32
		10854	C:\Temp/ccfR0jIT.s:1646 .bss:000000c4 d2Roll.33
		10855	C:\Temp/ccfR0jIT.s:1647 .bss:000000c6 d2Nick.34
		10856	C:\Temp/ccfR0jIT.s:1651 .text:00000988 Mittelwert
		10857	COM:00000002 RohMesswertNick
		10858	COM:00000002 RohMesswertRoll
		10859	COM:00000002 NaviAccNick
		10860	COM:00000002 NaviAccRoll
		10861	COM:00000001 Parameter_GlobalConfig
		10862	COM:00000002 KopplungsteilNickRoll
		10863	COM:00000002 KopplungsteilRollNick
		10864	COM:00000002 TrimRoll
		10865	COM:00000002 TrimNick
		10866	C:\Temp/ccfR0jIT.s:3216 .text:000018ec SendMotorData
		10867	C:\Temp/ccfR0jIT.s:3276 .text:00001966 ParameterZuordnung
		10868	COM:00000001 Parameter_J16Timing
		10869	COM:00000001 Parameter_J17Timing
		10870	COM:00000001 Parameter_Servo3
		10871	COM:00000001 Parameter_Servo4
		10872	COM:00000001 Parameter_Servo5
		10873	COM:00000001 Parameter_MaximumAltitude
		10874	COM:00000001 Parameter_ExtraConfig
		10875	COM:00000001 Parameter_ExternalControl
		10876	COM:00000001 MAX_GAS
		10877	COM:00000001 MIN_GAS
		10878	C:\Temp/ccfR0jIT.s:1648 .bss:000000c8 sollGier.0
		10879	C:\Temp/ccfR0jIT.s:4019 .bss:000000cc tmp_long.1
		10880	C:\Temp/ccfR0jIT.s:4020 .bss:000000d0 tmp_long2.2
		10881	C:\Temp/ccfR0jIT.s:4021 .bss:000000d4 IntegralFehlerNick.3
		10882	C:\Temp/ccfR0jIT.s:4022 .bss:000000d8 IntegralFehlerRoll.4
		10883	C:\Temp/ccfR0jIT.s:4023 .bss:000000dc RcLostTimer.5
		10884	C:\Temp/ccfR0jIT.s:4024 .bss:000000de delay_neutral.6
		10885	C:\Temp/ccfR0jIT.s:4025 .bss:000000df delay_einschalten.7
		10886	C:\Temp/ccfR0jIT.s:4026 .bss:000000e0 delay_ausschalten.8
		10887	C:\Temp/ccfR0jIT.s:4027 .bss:000000e1 move_safety_switch.9
		10888	C:\Temp/ccfR0jIT.s:4028 .bss:000000e2 ausgleichNick.10
		10889	C:\Temp/ccfR0jIT.s:4029 .bss:000000e6 ausgleichRoll.11
		10890	C:\Temp/ccfR0jIT.s:4030 .bss:000000ea stick_nick.12
		10891	C:\Temp/ccfR0jIT.s:4031 .bss:000000ec stick_roll.13
		10892	C:\Temp/ccfR0jIT.s:4032 .bss:000000ee cnt.14
		10893	C:\Temp/ccfR0jIT.s:4033 .bss:000000f0 last_n_p.15
		10894	C:\Temp/ccfR0jIT.s:4034 .bss:000000f1 last_n_n.16
		10895	C:\Temp/ccfR0jIT.s:4035 .bss:000000f2 last_r_p.17
		10896	C:\Temp/ccfR0jIT.s:4036 .bss:000000f3 last_r_n.18
		10897	C:\Temp/ccfR0jIT.s:4037 .bss:000000f4 MittelIntegralNick_Alt.19
		10898	C:\Temp/ccfR0jIT.s:4038 .bss:000000f8 MittelIntegralRoll_Alt.20
		10899	C:\Temp/ccfR0jIT.s:4039 .bss:000000fc HeightTrimming.21
		10900	C:\Temp/ccfR0jIT.s:4040 .bss:000000fe FilterHCGas.22
		10901	C:\Temp/ccfR0jIT.s:4041 .bss:00000100 HoverGasFilter.23
		10902	C:\Temp/ccfR0jIT.s:4046 .data:00000051 delay.24
		10903	C:\Temp/ccfR0jIT.s:4042 .bss:00000104 BaroAtUpperLimit.25
		10904	C:\Temp/ccfR0jIT.s:4048 .bss:00000105 BaroAtLowerLimit.26
		10905	C:\Temp/ccfR0jIT.s:4053 .text:00001f9e MotorRegler
		10906	COM:00000001 GyroFaktor
		10907	COM:00000001 IntegralFaktor
		10908	COM:00000001 GyroFaktorGier
		10909	COM:00000001 IntegralFaktorGier
		10910	COM:00000004 MittelIntegralNick
		10911	COM:00000004 MittelIntegralRoll
		10912	COM:00000004 MittelIntegralNick2
		10913	COM:00000004 MittelIntegralRoll2
		10914	COM:00000002 ErsatzKompassInGrad
		10915	COM:00000002 DiffNick
		10916	COM:00000002 DiffRoll
		10917	COM:00000018 tmp_motorwert
		10918	COM:00000001 h
		10919	COM:00000001 m
		10920	COM:00000001 s
		10921	COM:00000001 Parameter_J16Bitmask
		10922	COM:00000001 Parameter_J17Bitmask
		10923	COM:00000002 MesswertGierBias
		10924	COM:00000001 Parameter_NaviGpsModeControl
		10925	COM:00000001 Parameter_NaviGpsGain
		10926	COM:00000001 Parameter_NaviGpsP
		10927	COM:00000001 Parameter_NaviGpsI
		10928	COM:00000001 Parameter_NaviGpsD
		10929	COM:00000001 Parameter_NaviGpsACC
		10930	COM:00000001 Parameter_NaviOperatingRadius
		10931	COM:00000001 Parameter_NaviWindCorrection
		10932	COM:00000001 Parameter_NaviSpeedCompensation
		10933
		10934	UNDEFINED SYMBOLS
		10935	__do_copy_data
		10936	__do_clear_bss
		10937	EE_Parameter
		10938	__divmodsi4
		10939	DebugOut
		10940	AdWertGier
		10941	AdWertAccHoch
		10942	UBat
		10943	Motor
		10944	Capacity
		10945	ServoNickValue
		10946	GPS_Nick
		10947	GPS_Roll
		10948	VersionInfo
		10949	PlatinenVersion
		10950	beeptime
		10951	UpdateMotor
		10952	LIBFC_Polling
		10953	SucheGyroOffset
		10954	AdWertNick
		10955	AdWertRoll
		10956	AdWertAccNick
		10957	AdWertAccRoll
		10958	PPM_in
		10959	__mulsi3
		10960	__prologue_saves__
		10961	ExpandBaro
		10962	Delay_ms_Mess
		10963	MessLuftdruck
		10964	SucheLuftruckOffset
		10965	__divmodhi4
		10966	Aktuell_az
		10967	SetParamWord
		10968	GetParamWord
		10969	uart_putchar
		10970	_printf_P
		10971	Luftdruck
		10972	StartLuftdruck
		10973	VarioMeter
		10974	LED_Init
		10975	FromNaviCtrl_Value
		10976	ServoActive
		10977	NickServoValue
		10978	LIBFC_HoTT_Clear
		10979	__epilogue_restores__
		10980	AdWertNickFilter
		10981	AdWertRollFilter
		10982	AdReady
		10983	HiResNick
		10984	HiResRoll
		10985	MotorTest
		10986	PC_MotortestActive
		10987	I2C_TransferActive
		10988	motor_write
		10989	twi_state
		10990	BLFlags
		10991	NC_To_FC_MaxAltitude
		10992	SpeakHoTT
		10993	FromNaviCtrl
		10994	BeepMuster
		10995	PPM_diff
		10996	SetActiveParamSet
		10997	WinkelOut
		10998	GetActiveParamSet
		10999	ParamSet_ReadFromEEProm
		11000	LipoDetection
		11001	LIBFC_ReceiverInit
		11002	NC_ErrorCode
		11003	GPSInfo
		11004	NewPpmData
		11005	FromNC_Rotate_C
		11006	FromNC_Rotate_S
		11007	GPS_Aid_StickMultiplikator
		11008	__floatsisf
		11009	__addsf3
		11010	__fixunssfsi
		11011	ExternControl
		11012	ZaehlMessungen
		11013	BattLowVoltageWarning
		11014	__udivmodhi4
		11015	DruckOffsetSetting
		11016	SummenHoehe
		11017	ihypot
		11018	c_cos_8192
		11019	__udivmodqi4
		11020	NC_To_FC_Flags
		11021	MissingMotor
		11022	Mixer

Subversion Repositories FlightCtrl

(root)/branches/v0.90e_Ernstl_8-Motoren+Sexpander/fc.lst - Rev 2307